- Overview
- What is a Micromanipulator
- Installation
- Testing and Configuration
- Main Features
- Parts Links
- License
Dr. Paliulis, who is working for the Biology department at Bucknell University, is performing research on chromosomes. In order to perform her research, Dr. Paliulis needs to utilize a glass needle to perform her test under microscope. The main objective is to use a small, sharp glass needle to probe cells under a microscope. A joystick is used for both position and velocity movement.Three M3-LS-1.8-6 Linear Smart Stages from New Scale Technologies were used to control and drive the needle. The micromanipulator offers sensitivity adjustment, speed control, set and return home. The project was previously installed and developed on arduino and was later transported to raspberry pi platform.
A micromanipulator is the device that is used to do manipulation and interact with testing samples under microscope. The Micromanipulator is controlled by a joystick and driven with three linear smart stages. The micromanipulator can achieve the precision of level of movement that couldn't be achieved by human hands and manual tools.
Waiting to be added
The designed micromanipulator provides user with position mode. The microneedle will be placed on the preset "home" position on the microscope stage. The user can also later redefine the "home" position by using "set home" key on Joystick. The user can move the Joystick to adjust the X and Y position of the microneedle and then pressed "ZUp" or "ZDown" button to adjust the Z position. When the user finishe operation and release all buttons, the microneedle will automatically return back to the "home" position.
Button 2: Z Down
Button 3: Z Up
Button 4: Set Home
Button 8: Z sensitivity increase
Button 9: Z sensitivity decrease
Button 10: Reset Home to the center of stage
Button +/- : Adjusting the sensitivity of X and Y. Due to configuration issue, the "-" sign represent maximum sensitivity, the "+" sign
represent minimum sensitivity
06: Move Closed-Loop step
<06 D[SSSSSSSS]> If D=1, motor runs forward. If D=0, motor runs in reverse. Set D to N to set the step size without moving the actuator.
This command is used in the startup function to finish the start up steps. The startup function is not yet finished.
08: Move to Target
<08 TTTTTTTT> TTTTTTTT is the target position in encoder counts (HEX).
There is no reading back from this command. This command is used in function goToLocation to drive the stage to move
10: View Closed-Loop Status and Position
<10>. Read back <10 SSSSSS PPPPPPPP EEEEEEEE>.
SSSSSS is the motor status.
PPPPPPPP is the absolute position in encoder count.
EEEEEEEE is the position error in encoder counts.
The table for motor status refer to Page 16-18 in M3-LS-1.8-6 Smart Stage manual
This command is used in function getPositionFromM3LS
87: Run Frequency Calibration
<87 D[ XX]> D is the calibration movement direction and calibration type.
If Bit 0 of D is 0, calibration run in reverse. Else, calibration runs in forward
If Bit 1 of D is 0, frequency calibration sweep. Else, incremental frequency calibration sweep only
If Bit 2 of D is 1, automated calibration sweep followed by an incremental frequency calibration sweep
Bit 3 to 7 are all set to 0
This command is used in function calibrate
Setting Linear Range
Home axis [x,y,z]
Boundries (4 numbers will be displayed, the first and third one are the distance from needle to the x boundries. The second and fouth one are the distance from needle to the y boundries.)
Constraint Linear Range (The distance from needle to closest boundries)
Scaled Range (Range of motion)
XlimMin (Lower boundery of x)
xlimmax (Upper boundery of x)
Ylimmin (Lower boundery of y)
ylimmax (Upper boundery of y)
Y Linear Range
X Linear Range
X, Y in scale of 1000
X position
Y position
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Link to Dozuki tutorial: ########
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Link to Parts List: https://drive.google.com/open?id=1ucY0XXdSG67SAkqAeAms21Gy_4KU3A-f
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CONN USB JACK TYPE A HORIZON R/A 151-1080-ND https://www.digikey.com/scripts/DkSearch/dksus.dll?Detail&itemSeq=261244052&uq=636622310614761080
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CRYSTAL 12MHZ 12PF SMD 535-13381-1-ND https://www.digikey.com/scripts/DkSearch/dksus.dll?Detail&itemSeq=261244104&uq=636622310614771081
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Hirose Electric Co Ltd FH12-10S-0.5SH(55) HFJ110CT-ND https://www.digikey.com/scripts/DkSearch/dksus.dll?Detail&itemSeq=261244151&uq=636622310614771081
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Maxim Integrated MAX3421EEHJ+ MAX3421EEHJ+-ND https://www.digikey.com/scripts/DkSearch/dksus.dll?Detail&itemSeq=261244279&uq=636622310614771081
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Texas Instruments LM386MX-1/NOPB LM386MX-1/NOPBCT-ND https://www.digikey.com/scripts/DkSearch/dksus.dll?Detail&itemSeq=261244418&uq=636622310614781082
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KEMET C0402C220J5GACTU 399-1015-1-ND https://www.digikey.com/scripts/DkSearch/dksus.dll?Detail&itemSeq=261245631&uq=636622310614781082
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Samtec Inc. SSQ-118-03-T-D SAM1204-18-ND https://www.digikey.com/scripts/DkSearch/dksus.dll?Detail&itemSeq=261245662&uq=636622310614791083
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Recom Power RAC06-05SC 945-1409-5-ND https://www.digikey.com/scripts/DkSearch/dksus.dll?Detail&itemSeq=261245724&uq=636622310614791083
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Qualtek 703W-00/53 Q219-ND https://www.digikey.com/scripts/DkSearch/dksus.dll?Detail&itemSeq=261246023&uq=636622310614791083
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Keystone Electronics 4527 36-4527-ND https://www.digikey.com/scripts/DkSearch/dksus.dll?Detail&itemSeq=261246232&uq=636622310614801084
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Adafruit Industries LLC 254 1528-1462-ND https://www.digikey.com/scripts/DkSearch/dksus.dll?Detail&itemSeq=261246277&uq=636622310614801084
Jacquelyn Scott
Ryder Nance
Zheng Tian
Waiting to be added