34 lines
1.8 KiB
Markdown
34 lines
1.8 KiB
Markdown
# Micro Manipulator Stepper (Page under construction...)
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A sub-micrometer 3D motion control plattform.
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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.
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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: 1%;">
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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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<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 for the metric version 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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### ⚙ Electronics
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### ⚙ Firmware
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