From GitHub · · 2m
Open Micro-Manipulator: Sub-Micrometer Motion Control Platform
Open source micro-manipulator achieves submicron precision for optical alignment and microscopy with affordable hardware.
In brief
Open source micro-manipulator achieves submicron precision for optical alignment and microscopy with affordable hardware. Open Micro-Manipulator provides submicron motion control using stepper motors and magnetic gearing for applications like optical alignment and microscopy. Originally reported by GitHub.
Open Micro-Manipulator Platform
This project offers an open source low-cost motorized XYZ motion control platform achieving submicron precision for optical alignment and electronic component probing.
Key Features
Uses parallel kinematic structure with miniature ball joints for mechanical stiffness and large range of motion, driven by 30 kHz closed loop controllers.
Magnetic Gearing
A magnetic gearing approach increases low-cost magnetic rotary encoder resolution by a factor of 30, allowing steps down to 50nm.
Control Interface
Can be controlled via simple G-Code commands over USB serial interface for easy integration into other projects.
Firmware Stack
Implements complete motion planning with look-ahead for smooth and accurate path following capabilities.
Getting Started
Follow steps: read documentation, get parts, build device, change hardware configuration, upload firmware, calibrate axes.
Hardware Version 4.0
Fixed self collision during homing, improved ball joint constraints, ensured consistent linkage rod length, and reduced friction.
Improved Ball Joints
New ball joint design allows easier manufacturing and better mechanical stability for precise motion control.
Open Micro-Manipulator GUI
Python control program with graphical interface for live camera feeds and g-code execution.
Python API
Lightweight API handles serial communication and provides functions to home, move, calibrate, and query device information.
Firmware v1.0.4
Adds tool usage support on GPIO pins J5, improved calibration error checks, and better kinematic model parameters.
Firmware v1.0.1
Improves homing, joint calibration, logging, and adds new g-code commands like G28 for parallel homing.
CAD Models
FreeCAD models available for viewing and modifying without subscription, optimized for 3-axis cnc milling.
Electronics
Designed with common modules and simple pcb, requires 5v-6v power for motors with 2a current.
Firmware Details
Written in c++ with path planning for 6dof pose interpolation, inspired by simplefoc project.
What matters most
Open Micro-Manipulator provides submicron motion control using stepper motors and magnetic gearing for applications like optical alignment and microscopy.
