SQUIGGLE Nano Manipulator System Multidisciplinary Senior Design II

SQUIGGLE Nano. Manipulator System Multidisciplinary Senior Design II – P 13372 Cory Behm Sakif Noor Jon Rosebrook

Project Team Cory Behm (ME), Jon Rosebrook (ME), and Sakif Noor (ME) Name Role Contact Cory Behm Mechanical Design Engineer/Website Admin cjb 5251@rit. edu Sakif Noor Mechanical Design/Assembly/Rework Engineer/C++ Programmer sxn 6226@rit. edu Jon Rosebrook Mechanical Design Engineer/Project Leader jsr 4541@rit. edu

Meeting Agenda � Product Description � Concept Summary � System Architecture � Design Summary � System Testing Results � Objective Project Evaluation � Opportunities for Future Work

Mission Statement � Design and build a low-cost, high-resolution nanomanipulator � Must use the SQUIGGLE piezoelectric linear actuators from New Scale Technologies. � Demonstrate its capabilities in RIT’s Nano-Bio Interface Laboratory

Project Description � � � Nanomanipulators are high resolution positioning instruments, and when used with high magnification devices, has the ability to maneuver objects thousands of times smaller than what can be seen with the human eye. High costs ($10 -50 K) and inaccessibility of nanotechnology is very limiting to research We need to develop a low-cost, high resolution, three-axis Cartesian nanomanipulator ◦ SQUIGGLE piezoelectric linear actuators ◦ Sponsored by New Scale Technologies, a local company in Victor, NY � To be used at RIT’s Nano-Bio Interface Laboratory

Customer Needs Below is what the customer expects the group to try and accomplish in the design of the nanomanipulator along with its relative importance.

Customer Specifications UNIT OF MARGINAL MEASURE VALUE Development costs $ Manufacturing costs $ Fine motion resolution nm ± 100 Supported software type binary Distance traveled in each axis mm SQUIGGLE motor speed mm/s ± 2 Length of the mechanical system cm +0 Length of the entire system cm +0 Height of the mechanical system cm +0 Height of the entire system cm +0 Width of the mechanical system cm +0 Width of the entire system cm +0 Input device - joystick support binary Visual feedback rate fps ± 1 Weight of the entire system g +0 SPEC # RANKING SPECIFICATION (METRIC) S 5 S 6 S 9 S 11 S 8 S 7 1 2 3 4 5 6 S 1 7 S 2 8 S 3 9 S 12 S 10 S 4 10 11 12 IDEAL VALUE $1, 000 < $500 5 5 ACTUAL VALUE <$800 $400+ 8440 YES 5. 08 Less than 3 8 8 7. 95 20. 5 8 8 6. 86 7. 8 4. 06 8 YES 15 325 15 550 Specific requirements from the customer that address characteristics (or metrics) related to this project.

SQUIGGLE Motor �A SQUIGGLE motor consists of several piezoelectric ceramic actuators attached to a threaded nut, with a mating threaded screw inside. � Piezoelectric actuators change shape when electrically excited � Applying power to the actuators creates ultrasonic vibrations, causing the nut to vibrate in an orbit similar to a person's hips in a "Hula Hoop. " SQUIGGLE info and pictures from http: //www. newscaletech. com/squiggle_overview. html

Squiggle Motor Photos are found in New Scale Technologies Manual – http: //www. newscaletech. com/downloads_registered/02892 -6 -0000_SQL-RV-1 p 8_Motor. Manual. pdf

Squiggle motor advantages No parasitic drag - less wasted power Zero backlash (with a light pre-load) 500 nanometer resolution Relatively High force Smooth velocity at microscopic speeds Off-power hold Standard linear motors feature direct linear drive no gearbox ◦ The speed and position of the threaded screw can be precisely controlled. ◦ ◦ ◦ ◦ SQUIGGLE info from http: //www. newscaletech. com/squiggle_overview. html

House of Quality Results

System Selection System Criteria Service Life Manufacturing Costs Development Costs # of Components Weight Friction Loss Ease of Implementing Return Force Load on Motor Backlash Fine Motion Resolution Quality of Computer Control Quality of Input Device Serviceability/Consistency Easy to Mount/Adjust Sensor Interference Temperature Sensitivity Total + System Components Hold Pipette Types of Tracks Types of Return Force Methods in X-Axis Types of Return Force Methods in Y-Axis Types of Return Force Methods in Z-Axis Types of Software Controls Types of Sensing Control Methods Input Devices Gravity System 0 + 0 0 0 0 + 4 3 Description of Systems: System #1 Collar Ball Bearing Sliders Gravity C++ N. S. T. Magnetic Encoder Linear Sensor Open-loop Joystick Spring System 0 0 0 0 0 System #5 Collar Ball Bearing Sliders Coil Springs Gravity C++ N. S. T. Magnetic Encoder Linear Sensor Open-loop Joystick

System Flow Chart Microscope Camera X, Y, Z-Axis Sensors X-Axis SQUIGGLE Motor Human Joystick Computer Microcontroller (2 X) Y-Axis SQUIGGLE Motor Z-Axis SQUIGGLE Motor Pipette

System Design CAD No spring to push down since weight is sufficient Spring pushing to the left Pipette in Holder Spring System Design (CAD)

Magnetic Trackers • Distance between encoder and magnet is ~0. 25 mm

Final Design

Final Design Pipette

Final Design

Resolution BEFORE AFTER 1 step 3. 97 µm 8. 44 µm BEFORE AFTER 1 step↑ 6. 45 µm BEFORE AFTER 1 step ↓ 6. 2 µm

Pipette Holder

Specification Comparison UNIT OF MARGINAL MEASURE VALUE Development costs $ Manufacturing costs $ Fine motion resolution nm ± 100 Supported software type binary Distance traveled in each axis mm SQUIGGLE motor speed mm/s ± 2 Length of the mechanical system cm +0 Length of the entire system cm +0 Height of the mechanical system cm +0 Height of the entire system cm +0 Width of the mechanical system cm +0 Width of the entire system cm +0 Input device - joystick support binary Visual feedback rate fps ± 1 Weight of the entire system g +0 SPEC # RANKING SPECIFICATION (METRIC) S 5 S 6 S 9 S 11 S 8 S 7 1 2 3 4 5 6 S 1 7 S 2 8 S 3 9 S 12 S 10 S 4 10 11 12 IDEAL VALUE $1, 000 < $500 5 5 ACTUAL VALUE <$800 $400+ 8440 YES 5. 08 Less than 3 8 8 7. 95 20. 5 8 8 6. 86 7. 8 4. 06 8 YES 15 325 15 550

Cost Analysis Item: Description Vendor Part Number Manufacturing P/N 1 Tracker sensor TRK-1 T 02 02108 -5 -0000 2 Microcontroller MC 33 MB 02438 -3 -0000 3 FPC Extension 4 5 6 7 SQUIGGLE Motor 3 -4 V 6 W Adapter 02587 -5 -0000 SQL 1. 8 -RV 3 A-061 WP 03 Power Connector for Microcontroller 02892 -6 -0000 EMS 033180 -P 5 P-SZ MXN-9 -2695 New Scale Technologies New Scale Technologies USB 2. 0 A to Micro USB B Cable New Scale Technologies 8 Tracker Magnet 9 IOGEAR 4 -Port USB 2. 0 Hub GUH 285 (Black) GUH 285 B 001 GUY 5 PY 10 Logitech Extreme 3 D Pro Joystick (Silver/Black) Wear- and Water-Resistant Delrin® Acetal Resin 963290 -0403 B 00009 OY 9 U 11 Vendor New Scale Technologies Weight (g) Quantity Cost Per Unit Development Cost Comments 0. 41 3 N/A Donated by New Scale Technologies 14. 6 3 N/A Donated by New Scale Technologies 0. 39 4 N/A Donated by New Scale Technologies 0. 24 5 N/A Donated by New Scale Technologies N/A 3 N/A Donated by New Scale Technologies 4. 35 3 N/A Donated by New Scale Technologies N/A 3 N/A Donated by New Scale Technologies 0. 04 4 N/A Donated by New Scale Technologies 1 $4. 99 1 $22. 99 1 $15. 28 Weight is measured by 3/4"x 2 x 12 in bar Amazon 8739 K 44 Mc. Master-Carr 1. 41 12 Metric Cheese Head Slotted Machine Screw 18 -8 SS, M 1 Size, 3 mm Length, . 25 mm Pitch 91800 A 052 Mc. Master-Carr 3 $7. 52 $22. 56 A pack consists of 5 screws, we need 14 screws, or 3 packs. 13 Metric Cheese Head Slotted Machine Screw 18 -8 SS, M 1. 4 Size, 5 mm Length, . 3 mm Pitch 91800 A 034 Mc. Master-Carr 1 $9. 98 A pack consists of 10 screws, we need 8 screws, or 1 pack. 14 Type 302 Stainless Steel Compression Spring. 938" Length, . 188" OD, . 012" Wire Diameter 1986 K 52 Mc. Master-Carr 1 $4. 63 A pack consists of 6 springs, we need 3 springs, or 1 pack. 15 Miniature Ball Bearing Carriage with Rail 2 mm Rail Width, 40 mm Rail Length 8381 K 100 Mc. Master-Carr 3 $87. 34 $262. 02 16 Metric Cheese Head Phillips Machine Screw 18 -8 SS, M 2. 5 Size, 4 mm Length, . 45 mm Pitch 94017 A 150 Mc. Master-Carr 1 $7. 60 A pack consists of 50 screws, we need 8 screws, or 1 pack. 17 Metric 316 SS Flat Head Phil Machine Screw M 2 Size, 8 mm Length, . 4 mm Pitch 91801 A 109 Mc. Master-Carr 1 $5. 18 A pack consists of 25 screws, we need 4 screws, or 1 pack. 18 Metric 316 SS Socket Head Cap Screw M 3 Thread, 12 mm Length, . 5 mm Pitch 92290 A 117 Mc. Master-Carr 1 $9. 99 A pack consists of 50 screws, we need 2 screws, or 1 pack. 19 Polyurethane Flat Disc Spring 3/16" Rod, . 5" OD, . 125" Thick 94045 K 116 Mc. Master-Carr 1 $6. 81 A pack consists of 6 washers, we need 1 washer, or 1 pack. 20 Chrome-Coated Low Carbon Steel Rod 3/8" Diameter, 1' Length 7936 K 321 1 $7. 07 To be machined for pipette Phshaft 21 Pipette Mc. Master-Carr Nano-Bio Interface Lab 1 N/A Donated by Nano-Bio Interface Lab Total = $379. 10 Before Machining Cost

Project Schedule

Future Suggestions • • • Smoother contact where motor screw touches axis Brass inserts for screws in plastic parts Machine the parts rather than 3 -D print Higher resolution via: Closed loop control with sensors Calibration of speed settings to achieve higher Limit switches with Flexible Printed Circuits rather than Copper tape

Project Evaluation � Successfully Designed Nanomanipulator to most customer needs � Hit all customer specifications except resolution

Acknowledgements � Dr. Michael G. Schrlau (Primary Customer) � William Nowak (Team Guide) � New Scale Technologies for their time, products and support