An open-source, low-cost motorized XYZ micro-manipulator platform designed for sub-micrometer motion control. It uses a parallel kinematic structure with miniature ball joints for stiffness and large travel, driven by off‑the‑shelf stepper motors under a 30 kHz closed-loop controller and precise PWM. A “magnetic gearing” trick multiplies low-cost rotary encoder resolution by 30x, enabling step resolution down to about 50 nm (with absolute accuracy substantially worse than raw resolution). The device accepts simple G‑code over USB serial and implements motion planning with look‑ahead for smooth path following, suitable for optical alignment, probing, microscopy and similar tasks.
Complete build resources are provided: FreeCAD models and STL files, KiCad electronics (assembly without SMD), a PCB fabrication package, a Python GUI with live camera feed, G‑code runner and realtime mouse control, plus a lightweight Python API for scripting. Firmware adds features like tool PWM integrated into the planner, enhanced calibration and homing routines, persistent joint calibration, and true 6DOF pose interpolation with new G‑codes and tuning parameters; hardware v4.0 fixes earlier mechanical issues. Practical notes include power needs (~5-6 V, ~2 A), a PCB v1.2 via repair warning, an unupdated BOM, and community support via Discord and documentation for replication and calibration.
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