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# 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).
<div style="display: flex;">
<img src="images/FreeCAD-Model.jpg" alt="FreeCAD Model" width="50%">
@ -30,17 +30,17 @@ You can also 3D-Print the parts but have to live with thermal drift (carbon fill
<br>
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.
<div style="display: flex; gap: 5%;">
<img src="images/Kicad-Board.jpg" alt="Image 1" style="flex: 1; object-fit: contain; height: 10vw;">
@ -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.
<div style="display: flex; gap: 5%;">
<img src="documentation/firmware/firmware_overview.png" alt="Image 1" width="50%">
@ -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 |
|----------------|-----------------------------------------------------------------------------|