====== Open Micro-Manipulator ======
We are building an //open micro-manipulator// after the amazing design of //Diffraction Limited// ([[https://www.youtube.com/watch?v=MgQbPdiuUTw|YouTube]]). He describes is as

> This project contains an open source low-cost, easy-to-build motorized XYZ Micro-Manipulator motion control platform achieving submicron precision. It's designed for applications such as optical alignment, probing electronic components, and microscopy.

{{:projects:micromanipulator:20260731_work-in-progress.jpg?600|}}

[Work in Progres]

==== Resources ====
  * Upstream Project Documentation: https://github.com/0x23/MicroManipulatorStepper


===== Log =====
==== 2026-08-01 ====
Plotted the encoder values to understand why results do not add up.

{{:projects:micromanipulator:2026-08-01t16_07_14_137064430_00_00.png|600}}

The discontinuities look suspicious. Disassembled the encoder from the micromanipulator again and manually played with the magnet array next to it. Figured out where the magnets need to sit in relation to the encoder to produce continuously changing encoder graphs.

We noticed that the version of the stepper motor mount (''MotorMount'' in the FreeCAD assembly) that we printed does not match the latest design. It is missing a mounting hole for the encoder... Printed the new version.
==== 2026-07-31 ====
Assembly arrived in the lab and we finished assembling it.

The chosen stepper motors have too short of an axle which makes the mating parts not sit straight. The motor coils also have too low resistance which means we cannot drive them at full specified torque. Running at 3V supply for now.

Attached the encoders. They report a "weak" magnetic field (come on, it's at least average!). Patched out the error check for this.

Open loop motion during calibration works, but the closed control loop oscillates heavily. During calibration, motion starts in a weird direction.