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projects:micromanipulator:start [2026/08/02 15:59] – [Resources] rahixprojects:micromanipulator:start [2026/08/03 20:47] (current) – more docs rahix
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 ====== Open Micro-Manipulator ====== ====== 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+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. > 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.
 +
 +We are building ours for die image stitching and laser alignment needs.
  
 {{:projects:micromanipulator:20260731_work-in-progress.jpg?600|}} {{:projects:micromanipulator:20260731_work-in-progress.jpg?600|}}
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 ===== Log ===== ===== Log =====
-==== 2026-08-02 (fiona, jaro, rahix) ====+==== 2026-08-02 (fiona, anuejn, rahix) ====
 The code to drive the fafo-flavored circuit board has been pushed to git: [[https://git.fa-fo.de/fafo/OpenMicroManipulator]] The code to drive the fafo-flavored circuit board has been pushed to git: [[https://git.fa-fo.de/fafo/OpenMicroManipulator]]
  
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 We finished soldering the circuit board and confirmed motors and encoders of all three axis working. We finished soldering the circuit board and confirmed motors and encoders of all three axis working.
  
-==== 2026-08-01 (fiona, jaro, rahix) ====+----- 
 + 
 +Running calibration on all 3 axes with 27° retration angle (we increased it in an attempt to improve the results). 
 + 
 +{{:projects:micromanipulator:2026-08-02_22-joint0.png?400|}} 
 +{{:projects:micromanipulator:2026-08-02_22-joint1.png?400|}} 
 +{{:projects:micromanipulator:2026-08-02_22-joint2.png?400|}} 
 + 
 +It does not work reliably yet, neither homing nor calibration yields great results so far. Assuming we will need a combination of improving the encoder to magnet alignment and also tuning software parameters more. 
 + 
 +==== 2026-08-01 (fiona, anuejn, rahix) ====
 Plotted the encoder values to understand why results do not add up. Plotted the encoder values to understand why results do not add up.
  
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 [do not question what the saw is doing on this picture] [do not question what the saw is doing on this picture]
  
-==== 2026-07-31 (jaro, fiona) ====+==== 2026-07-31 (anuejn, fiona) ====
 Assembly arrived in the lab and we finished assembling it. Assembly arrived in the lab and we finished assembling it.