A trapezoid-type stick-slip piezoelectric linear actuator using a right circular flexure hinge mechanism was proposed, designed, fabricated, and tested with the aim of accomplishing linear driving based on stick-slip motion. The angle adjustment of the trapezoid beam was used for generating lateral motion on the driving foot of the flexure hinge mechanism. A method of tuning the lateral motion of the flexure hinge mechanism was discussed. Based on the finite-element method, a proper angle of the trapezoid beam was obtained. The analysis results proved that asymmetrical flexure hinge mechanism can increase static friction force in slow extension stage and decrease kinetic friction force in quick contraction stage by lateral motion of the driving foot. A prototype was fabricated and its experimental system was established. The mechanical output experiments showed that the prototype achieved maximum output velocity and load of 5.96 mm/s and 3 N at a voltage of 100 Vp - p and a frequency of 500 Hz, respectively.