Abstract: Disclosed herein are positioning devices and related methods of positioning a tool in a desired location. In one exemplary embodiment, a positioning device includes a base having a length extending along a first horizontal axis. In addition, the positioning device includes a first arm coupled to the base and extending therefrom along a second horizontal axis perpendicular to the first horizontal axis. The first arm is configured for linear movement across the base along the first horizontal axis. The positioning device also includes a second arm coupled to the first arm carriage and extending therefrom along a vertical axis, where the second arm is configured for linear movement along the second horizontal axis. Moreover, in this embodiment, the second arm is also configured to pivot about a first rotational axis parallel to the first horizontal axis.