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README.md
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@ -6,7 +6,10 @@ It's designed for applications such as optical alignment, probing electronic com
Check out the YouTube video for more information about the device and how it is built:<br>
[An Open Source Motorized XYZ Micro-Manipulator - Affordable sub µm Motion Control](https://youtu.be/MgQbPdiuUTw)
[![DeviceInMotion](images/overview.gif)](https://youtu.be/MgQbPdiuUTw)
<div style="display: flex; gap: 5%;">
<img src="images/overview.gif" alt="Image 1" width="45%">
<img src="images/microscopy_die.gif" alt="Image 2" width="45%">
</div>
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 dr​iven by a 30 kHz closed loop controller and a very precise PWM signal.
@ -16,8 +19,6 @@ A 'magnetic gearing' approach increases the resolution of the low-cost magnetic
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 proprietary CAD solution.
@ -60,8 +61,8 @@ It implements path planning with look-ahead and, unlike many other motion contro
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%">
<img src="documentation/firmware/path_planning.png" alt="Image 2" width="50%">
<img src="documentation/firmware/firmware_overview.png" alt="Image 1" width="45%">
<img src="documentation/firmware/path_planning.png" alt="Image 2" width="45%">
</div>
#### Building and Flashing the Firmware