Open-source micro-manipulator achieves submicron XYZ motion control

An open-source motorized XYZ micro-manipulator platform delivers submicron precision for optical alignment, probing, and microscopy applications. The device uses off-the-shelf stepper motors driven by a 30 kHz closed loop controller, with a magnetic gearing approach that increases encoder resolution by a factor of 30 to achieve 50nm steps. Parallel kinematic structure and miniature ball joints provide mechanical stiffness while maintaining a large motion range. Control occurs via G-Code commands over USB serial, with a complete motion planning stack supporting smooth path following.

The project provides a Python GUI and API for operation, along with FreeCAD models and STL files for replication. A recent hardware redesign addressed self-collision during homing, ball joint constraints, linkage rod consistency, and manufacturing issues. Firmware updates added tool support for laser engraving, improved calibration and homing procedures, persistent joint calibration storage, and expanded G-Code commands. The design uses KiCAD for PCB layout with no SMD soldering required, runs on 5V-6V (2A) power, and can be fabricated via CNC milling or 3D printing.