0x23/MicroManipulatorStepper

A sub-micrometer 3D motion control plattform.

What it solves

This project provides an affordable, open-source platform for high-precision motion control. It is designed for tasks requiring submicron-level movement, such as optical alignment, probing electronic components, and microscopy, where expensive commercial equipment is often cost-prohibitive.

How it works

The device uses a parallel kinematic structure with miniature ball joints to achieve mechanical stiffness and a wide range of motion. It is powered by off-the-shelf stepper motors managed by a 30 kHz closed-loop controller. A "magnetic gearing" technique boosts the resolution of low-cost rotary encoders, enabling movement steps as small as 50nm. Users control the device via G-Code commands over a USB serial interface, supported by a Python API and a graphical user interface for real-time interaction.

Who it’s for

It is built for makers, researchers, and engineers who need a customizable, low-cost micro-manipulation tool. The design is accessible, using standard components and 3D-printable or CNC-machinable parts, making it suitable for those comfortable with basic electronics assembly and firmware flashing via PlatformIO.

Highlights

  • Submicron precision with 50nm step resolution.
  • Full motion planning stack with look-ahead for smooth path following.
  • Open-source design using FreeCAD and KiCAD, with no proprietary software required.
  • Includes a Python-based GUI for live camera integration and mouse-controlled manipulation.
  • Supports tool integration (e.g., laser engraving) via dedicated GPIO pins.

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