Open MicroManipulator是一套开源、低成本的电动XYZ微操纵器运动控制平台，可实现亚微米级精度1。该项目提供完整的设计文档与代码，包括FreeCAD机械模型、KiCAD电路设计和C++固件，支持G代码控制与Python API集成，适用于光学对齐、电子元件探测和显微镜等应用场景1。
系统采用30kHz闭环控制器和磁性齿轮装置，分辨率达到50纳米1。其机械结构采用平行运动学设计和微型球形关节，实现了高刚度与大运动范围的结合1。电子设计基于KiCAD，仅使用常见模块，避免了复杂的表贴焊接工艺1。固件基于C++编写，借鉴了SimpleFOC项目的设计思路，内置路径规划和前瞻功能1。
最新发布的固件版本1.0.4新增工具支持（含激光雕刻功能）、改进了校准流程和G代码命令集1。平台还支持6自由度姿态插值与规划功能，为未来的六足运动平台做准备1。目前硬件版本为v4.0，v3.0用户需调整运动学参数以适配新版本1。此外，PCB v1.2曾存在二极管D1处短路的缺陷，已在v1.3版本中修复1。
The Open MicroManipulator project has introduced an open-source, low-cost electric XYZ micromanipulator motion control platform capable of achieving sub-micrometer precision 1. The system delivers 50-nanometer resolution through a 30 kHz closed-loop controller paired with magnetic gear mechanisms 1. Designed for applications including optical alignment, electronic component probing, and microscopy, the platform integrates FreeCAD mechanical designs, KiCAD circuit schematics, and C++ firmware with support for G-code control and Python API integration 1.
The hardware architecture employs parallel kinematics and miniature spherical joints to provide both high rigidity and extensive range of motion 1. The electronics are based entirely on KiCAD with common modules, eliminating the need for surface-mount device soldering 1. The firmware, written in C++ and drawing from the SimpleFOC project, incorporates path planning and lookahead capabilities 1. Version 1.0.4 of the firmware adds tool support for laser engraving, improves calibration routines, and expands G-code command functionality 1. The system also supports six-degree-of-freedom pose interpolation and planning in preparation for hexapod platform development 1. Users of hardware version 3.0 must revert to legacy kinematics parameters for compatibility with the current release 1. A PCB defect in version 1.2 involving a diode short circuit at position D1 has been corrected in version 1.3 1.
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