diff --git a/README.md b/README.md index 3946677..74e9457 100644 --- a/README.md +++ b/README.md @@ -1,27 +1,27 @@ -# Micro Manipulator Stepper +​# Micro Manipulator Stepper -This project contains an open source low-cost, easy-to-build motorized **XYZ Micro-Manipulator** motion controll platform achieving sub micrometer precision. -It's designed for applications such as optical alignment, probing electronic components, and microscopy. +This project contains an open source low-cost, easy-to-build motorized **XYZ Micro-Manipulator** motion control platform achieving sub micrometer precision. +It's designed for applications such as optical alignment, probing electronic components, and microscopy. -Check out the youtube video for more information about the device and how it is build: ![An Open Source Motorized XYZ Micro-Manipulator](https://youtu.be/MgQbPdiuUTw) +Check out the YouTube video for more information about the device and how it is built: -![DeviceInMotion](images/overview.gif) +[![DeviceInMotion](images/overview.gif)](https://youtu.be/MgQbPdiuUTw) Thanks to its parallel kinematic structure and miniature ball joints, it achieves good mechanical stiffness and a large range of motion. -The motors are off the shelf stepper motors driven by a 30kHz closed loop controller and a very precise PWM signal. -A 'magnetic gearing' approach increases the resolution of the low-cost megnetic rotary encoders by a factor of 30 allowing for steps down to 50nm -(**Please mind the difference beteween resolution and accuracy**. The absoluthe accuracy is much lower). +The motors are off the shelf stepper motors dr​iven by a 30 kHz closed loop controller and a very precise PWM signal. +A 'magnetic gearing' approach increases the resolution of the low-cost magnetic rotary encoders by a factor of 30 allowing for steps down to 50nm +(**Please mind the difference between resolution and accuracy**. The absolute accuracy is much lower). -The device can be controlled via simple G-Code commands over an USB serial interface and is thus easily integrated into other projects. -The firmware implements a complete motion planning stack with look-ahead for smooth and accurate path following capabilities. +The device can be controlled via simple G-Code commands over a USB serial interface and is thus easily integrated into other projects. +The firmware implements a complete motion planning stack with look-ahead for smooth and accurate path following capabilities. ![DeviceInMotion](images/microscopy_die.gif) ### ⚙ CAD-Files -All CAD models are made in **FreeCAD**, to allow everyone to view and modify the design without subscribing or paying for a propriatary CAD solution. -Note that most components are already disgned with the goal to make them easily machinable on a 3-Axis CNC-Mill. -You can also 3D-Print the parts but have to live with thermal drift (carbon filled filaments cam reduce this problem). +All CAD models are made in **FreeCAD** to​ allow everyone to view and modify the design without subscribing or paying for a proprietary CAD solution. +Note that most components are already designed with the goal to make them easily machinable on a 3-Axis CNC-Mill. +You can also 3D-Print the parts but have to live with thermal drift (carbon filled filaments can reduce this problem).
FreeCAD Model @@ -30,17 +30,17 @@ You can also 3D-Print the parts but have to live with thermal drift (carbon fill
The files can be found here: [CAD Models](construction). -Please note that FreeCAD version **1.1.0dev** was used and the files might not work with older versions. +Please note that FreeCAD version **1.1.0dev** was used, and the files might not work with older versions. ### ⚙ Kinematic Model The kinematic model is defined here: [kinematic_model_delta3d.cpp](firmware/MotionControllerRP/src/kinemtaic_models/kinematic_model_delta3d.cpp). -Please check the dimensions of your build against the values set in the constructor. In particular make sure the arm length matches. +Please check the dimensions of your build against the values set in the constructor. In particular, make sure the arm length matches. ### ⚙ Electronics -The electronics is designed in **KiCAD** and only commonly available modules (Motordrivers, MCU board) are used and connected by a simple PCB. No SMD soldering is required to populate the board to make the build extra accassible. -For usual winding resistance of your motors the device should be powered by $${\color{lightgreen} 5V-6V }$$ to keep current and heating to a reasonable level. +The electronics are designed in **KiCAD** and only commonly available modules (motor drivers and MCU boards) are used and connected by a simple PCB. No SMD soldering is required to populate the board to make the build extra accessible. +For usual winding resistance of your motors, the device should be powered by $${\color{lightgreen} 5V-6V }$$ to keep current and heating to a reasonable level.
Image 1 @@ -49,10 +49,10 @@ For usual winding resistance of your motors the device should be powered by $${\ ### ⚙ Firmware -The firmware is written in C++ and takes some inspiration from the 'SimpleFOC' project. It aims to be streamlined and readable without any extra fuss, focussing at the hardware ised in this project. -It implements path planning with look-ahead and unlike many other motion controller projects supports true 6DOF-Pose interpolation and planning making it ready for driving hexapod motion plattforms, that may or may not be the next step for this project. +The firmware is written in C++ and takes some inspiration from the 'SimpleFOC' project. It aims to be streamlined and readable without any extra fuss, focusing on the hardware used in this project. +It implements path planning with look-ahead and, unlike many other motion controller projects, supports true 6DOF-Pose interpolation and planning, making it ready for driving hexapod motion platforms; that may or may not be the next step for this project. -You may find configuration for pin numbers, motor type and other parameters in [hw_config.h](firmware/MotionControllerRP/src/hw_config.h). Please check them before uploading the firmware. +You may find configuration for pin numbers, motor type, and other parameters in [hw_config.h](firmware/MotionControllerRP/src/hw_config.h). Please check them before uploading the firmware.
Image 1 @@ -61,8 +61,8 @@ You may find configuration for pin numbers, motor type and other parameters in [ #### Building and Flashing the Firmware -For building and flashing the firmware, visual studio code (available for free on windows and linux) is recommended. -Install the PlattformIO addon and open the firmware folder. You can now build and flash the firmware like any other PlattformIO project. +For building and flashing the firmware, Visual Studio Code (available for free on Windows and Linux) is recommended. +Install the PlatformIO add-on and open the firmware folder. You can now build and flash the firmware like any other PlatformIO project. ### ⚙ G-Code Interface @@ -70,7 +70,7 @@ The firmware supports only a small subset of G-Code commands listed below. Each command is acknowledged with either an **`ok`** or **`error`** response. If a command provides additional information (e.g., the *get position* command), that information is returned **before** the `ok` message. -The client must wait for an acknowledgment from the previous command before sending the next one — otherwise, behavior is undefined. +The client must wait for an acknowledgment from the previous command before sending the next one—otherwise, behavior is undefined. | Command | Description | |----------------|-----------------------------------------------------------------------------|