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Hydraulic Nanomanipulator
P13371
CustomerDr. Schrlau
TeamJacob BertaniBridget LallyAvash JoshiNick MatsonKeith Slusser
GuideBill Nowak
Introductions
Task Time
Live demo of manipulation via remote desktop 3 min
Project background and motivation 2 min
Specs:: pass or fail 15 min
Lessons learned and recommendations 10 min
Questions and comments remaining
Table of Contents & Agenda
Jacob Bertani – Lead Hydraulic Subsystem Engineer
Avash Joshi – Lead Driver / Hydraulic Interface Subsystem Engineer
Keith Slusser – Lead Manipulator Subsystem Engineer
Bridget Lally – Lead Controls Engineer
Nick Matson – Project Manager & Controls Engineer
Team Roles
• Ultra-high precision positioning instrument
• Maneuver objects under high magnification, at the micro and nano scales
• Primary customer uses:• Cell behavior for medical
diagnostics
What Is a Nanomanipulator?
Improve 12371 prototype and redesign where applicable
Improve overall nanomanipulator function to meet competitive operational specifications
Reduce price of nanomanipulator with respect to commercial devices
Broaden participation in nanoscience
Project Objectives & Goals
Customer Needs
# Description Importance
CN1 High Resolution 9
CN2 Low Cost 9
CN3 Reliable Movement 9
CN4 Easy to Operate 9
CN5 Visual Feedback 3
CN6 Adequate Range of Motion 3
CN7 Reliable Control of Speed 3
CN8 Keep Hardware Safe 3
CN9 Easy to Maintain 1
CN10 Easy to Setup 1
CN11 Portable 1
CN12 Remote Access 1
System Specs HOQ
movement r
esolution
Position re
peatabilit
y
Manufactu
re Cost
joystick
contro
l
system bac
klash
; dire
ction ch
ange
Development C
ost
ease of u
se
GUI contro
l
spee
d of trave
l
Limits
of trave
l; xyz
ease of a
ssembly
Safe operation
system m
ounts sta
ndard pipett
e holder
Size M
anipulator Syste
m
weight of M
anipulator
remote inter
net acce
ss0
50
100
150
200
0%
10%
20%
30%
40%
50%
60%
70%
80%
90%
100%
P13371 Pareto of SpecsCo
unt
qfdDataLink20244080
System Architecture
Final System Assembly
Spec: 8x8x8 (cm) Theory: 10x10x10 (cm) Actual: 13x13x13 (cm)
Fail◦ 1% of relative customer needs
CAD model smaller than actual cylinder Did not account for fittings
Size of Manipulator
Spec: 550 (grams) Theory: 570 (grams) Actual: 689 (grams)
Fail◦ 1% of relative customer needs
Inaccurate CAD model Weight of water 8% improvement from phase 1 (750 grams)
Weight of Manipulator
Spec: <$2,500 Theory: $900 Actual: $2,128
Pass◦ 8% of relative customer needs
Development Cost
Spec: $1,500 Theory: $1,400 Actual: $1,471
Pass◦ 11% of relative customer needs
$179 cost reduction from phase 1 Assuming $270 for labor costs
Manufacturing Cost
Spec: 1 (cm) Theoretical: 1.1 (cm) Actual:1.1 (cm)
Pass◦ 5% of relative customer needs
X: 1.2 cm Y: 1.1 cm Z: 1.1 cm
Limits of Travel in Each Direction
Spec: 0.5 mm/sec Theory: 0.104 mm/sec Actual: 0.04 mm/sec
Fail◦ 6% of relative customer needs
Stepper motor gear ratio Stepper motor max rpm
Speed of Travel
Spec: 100 nm/step Theory: 66 nm/step Actual: X: 56 nm/step
Y: 51 nm/step Z: 56 nm/step
Pass◦ 12% of relative customer needs
Resolution
Spec: <1 rev Theory: 0 rev Actual: X: 1.1
Y: 2.9 Z: 2.8
Fail◦ 9% of relative customer needs
80% improvement phase 1 (14 rev)
Backlash
Spec: <0.02 um Theory: 0 um Actual: 0 um
Pass◦ Part of position repeatability◦ 4% of relative customer needs
Manipulator does not change position when left for hours in lab
System Drift Over Time
Spec: undefined Theory: undefined Actual: X: 2.0um
Y: 3.8um Z: 6.2um
Pass/ Fail ?◦ Part of position repeatability◦ 8% of relative customer needs
System Drift During Manipulation
System is easily assembled / disassembled◦ Yes◦ Pass
3% of relative customer needs◦ See operators manual for instructions
System is easy to use◦ Yes◦ Pass
7% of relative customer needs◦ See users experience survey
Additional Specs
System is controlled by GUI◦ Yes◦ Pass
7% of relative customer needs
System is controlled by Joystick◦ Yes◦ Pass
11% of relative customer needs
System mounts standard pipette holder◦ Yes◦ Pass
3% of relative customer needs
Additional Specs
System can be operated safely through range of motion◦ Yes◦ Pass
3% of relative customer needs
System can be controlled remotely ◦ Remote desktop only◦ Fail
0% of relative customer needs
Additional Specs
83% of customer needs passed
Major Failures:◦ Backlash (9%)◦ Speed of travel (6%)
Significant improvements on backlash, position repeatability and cost for manufacturing
Maximum travel speed is still functional and practical when working in field of vision under microscope
Summary of Specs
# Specification (metric)Unit of
MeasureTarget Value
Actual Value
S1 Size of manipulator (h x w x l) cm 8 x 8 x 8 13 x 13 x 13
S2 Weight of manipulator Grams 550 689
S3 Development cost $ < 2,500 $2,128
S4 Cost to manufacture after development $
1000 -1500
$1,471
S5 Limits of travel in each direction cm >1 1.1
S6 Speed of travel mm/sec 0.5 0.04
S7 Resolution μm < 0.1 .056
S8 System backlash#
Revolutions < 1 2.9
S9 System drift μm < .02 0
# Specification (metric)Unit of
MeasureTarget Value
Theoretical Value
S10 System is easily assembled/disassembled Survey Yes Yes
S11 Easy to use Survey Yes Yes
S12 Joystick Control Binary Yes Yes
S13 Systems can be operated safely Binary Yes Yes
S14 System mounts standard pipette holder Binary Yes Yes
S15 GUI Control Survey Yes Yes
S16 Remote internet access Binary Yes No
Controls◦ Stepper motor control board
◦ Implementation of limit switches
◦ Limited computer engineering experience
◦ Outdated serial communication
Lessons Learned – System
Pump Assembly◦ Reevaluate stepper motor gear ratio to get best
resolution vs. speed
◦ Improper manufacturing on reused parts
Manipulator Assembly◦ Implement bearing sliders
◦ Cylinders
◦ Implement hard mount for correct orientation
Lessons Learned – System
Hydraulics Assembly◦ Cylinders
◦ Protection of hydraulic lines
◦ Hose length
Manufacturing◦ Uniform parts for all axes
◦ Multiple bolted fasteners can cause alignment issues
Lessons Learned – System
Purchasing ◦ Use reliable suppliers
◦ Ample amount of spares when testing
Refer to subject mater experts
Scheduling
Communication and organization
Lessons Learned – Team
Dr. Schrlau – Customer
Bill Nowak - Guide
Mr. Wellin -RIT ME Department
Dr. Patru - RIT EE Department
Sabine Loebner & Brad Olan - P12371
Ken Snyder – RIT EE Department
Rick Tolleson– RIT CE Department
Rob Kranynik & Jan Maneti - ME Machine Shop
Acknowledgments
Questions and Comments
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