55 lines
3.4 KiB
Markdown
55 lines
3.4 KiB
Markdown
# Micro Manipulator Stepper (Page under construction)
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This project contains an open source low-cost, easy-to-build motorized **XYZ Micro-Manipulator** motion controll platform achieving sub micrometer precision.
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It's designed for applications such as optical alignment, probing electronic components, and microscopy.
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Thanks to its parallel kinematic structure and miniature ball joints, it achieves good mechanical stiffness and a large range of motion.
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The motors are off the shelf stepper motors driven by a 30kHz closed loop controller and a very precise PWM signal.
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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 differenc ebeteween resolution and accuracy. The absoluthe accuracy is much worse).
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The device can be controlled via simple G-Code commands over an USB serial interface and is thus easily integrated into other projects.
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The firmware implements a complete motion planning stack with look-ahead for smooth and accurate path following capabilities.
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<div style="display: flex; gap: 5%;">
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<img src="images/MicroManipulator.jpg" alt="Image 1" style="flex: 1; object-fit: contain; height: 10vw;">
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<img src="images/ControllerPCB.jpg" alt="Image 2" style="flex: 1; object-fit: contain; height: 10vw;">
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</div>
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### ⚙ CAD-Files
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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.
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Note that most components are already disgned with the goal to make them easily machinable on a 3-Axis CNC-Mill.
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You can also 3D-Print the parts but have to live with thermal drift (carbon filled filaments cam reduce this problem).
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<div style="display: flex;">
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<img src="images/FreeCAD-Model.jpg" alt="FreeCAD Model" width="50%">
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</div>
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<br>
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The files can be found here: [CAD Models](construction).
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Please note that FreeCAD version **1.1.0dev** was used and the files might not work with older versions.
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### ⚙ Kinematic Model
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The kinematic model is defined here: [kinematic_model_delta3d.cpp](firmware/MotionControllerRP/src/kinemtaic_models/kinematic_model_delta3d.cpp).
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Please check the dimensions of your build against the values set in the constructor. In particular make sure the arm length matches.
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### ⚙ Electronics
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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.
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<div style="display: flex; gap: 5%;">
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<img src="images/Kicad-Board.jpg" alt="Image 1" style="flex: 1; object-fit: contain; height: 10vw;">
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<img src="images/ControllerPCB.jpg" alt="Image 2" style="flex: 1; object-fit: contain; height: 10vw;">
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</div>
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### ⚙ Firmware
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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.
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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.
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<div style="display: flex; gap: 5%;">
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<img src="documentation/firmware/firmware_overview.png" alt="Image 1" width="50%">
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<img src="documentation/firmware/path_planning.png" alt="Image 2" width="50%">
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</div>
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