# Open Micro-Manipulator: Sub-Micrometer Motion Control Platform

> Open source micro-manipulator achieves submicron precision for optical alignment and microscopy with affordable hardware.
- Title: Open Micro-Manipulator: Sub-Micrometer Motion Control Platform
- Summary: Open source micro-manipulator achieves submicron precision for optical alignment and microscopy with affordable hardware. Open Micro-Manipulator provides…
- Keywords: open micro manipulator, stepper motors, microscopy, optical alignment, free cad, firmware v1.0.4, g code, hardware version 4.0, python api, micro motion control, technology, startups
- Source: GitHub — https://github.com/0x23/MicroManipulatorStepper
- Read time: 2 min
- Topics: open micro manipulator, stepper motors, microscopy, optical alignment, free cad, firmware v1.0.4, g code, hardware version 4.0, python api, micro motion control, technology, startups
## 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.
## Key takeaway

Open Micro-Manipulator provides submicron motion control using stepper motors and magnetic gearing for applications like optical alignment and microscopy.