SQUIGGLE Nano-Manipulator System

Multidisciplinary Senior Design II – P13372Cory BehmSakif 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

cjb5251@rit.edu

Sakif Noor Mechanical Design/Assembly/Rework

Engineer/C++ Programmer

sxn6226@rit.edu

Jon Rosebrook Mechanical Design Engineer/Project Leader

jsr4541@rit.edu

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

Meeting Agenda

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

Mission Statement

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 ($10-50K) 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

Project Description

Customer NeedsBelow is what the customer expects the group to try

and accomplish in the design of the nanomanipulator along with its relative importance.

Customer Specifications

Specific requirements from the customer that address characteristics (or metrics) related to this

project.

SPEC # RANKING SPECIFICATION (METRIC) UNIT OF MEASURE

MARGINAL VALUE

IDEAL VALUE

ACTUAL VALUE

S5 1 Development costs $   $1,000 <$800S6 2 Manufacturing costs $   < $500 $400+S9 3 Fine motion resolution nm ± 100 500 8440S11 4 Supported software type binary     YESS8 5 Distance traveled in each axis mm   5 5.08S7 6 SQUIGGLE motor speed mm/s ± 2 5 Less than 3

S1 7Length of the mechanical

system cm +0 8 7.95Length of the entire system cm +0 8 20.5

S2 8Height of the mechanical

system cm +0 8 6.86

Height of the entire system cm +0 8 7.8

S3 9Width of the mechanical

system cm +0 8 4.06Width of the entire system cm +0 8 8

S12 10 Input device - joystick support binary     YESS10 11 Visual feedback rate fps ± 1 15 15S4 12 Weight of the entire system g +0 550 325

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 Motor

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-1p8_MotorManual.pdf

◦ 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 motor advantages

SQUIGGLE info from http://www.newscaletech.com/squiggle_overview.html

House of Quality Results

System SelectionSystem Criteria Gravity System Spring System

Service Life 0 0Manufacturing Costs - 0Development Costs + 0

# of Components - 0Weight - 0

Friction Loss 0 0Ease of Implementing Return Force - 0

Load on Motor + 0Backlash 0 0

Fine Motion Resolution 0 0Quality of Computer Control 0 0

Quality of Input Device 0 0Serviceability/Consistency 0 0

Easy to Mount/Adjust 0 0Sensor Interference 0 0

Temperature Sensitivity + 0Total - 4 0Total + 3 0

Description of Systems:System Components System #1 System #5

Hold Pipette Collar CollarTypes of Tracks Ball Bearing Sliders Ball Bearing Sliders

Types of Return Force Methods in X-Axis Gravity Coil SpringsTypes of Return Force Methods in Y-Axis Gravity Coil SpringsTypes of Return Force Methods in Z-Axis Gravity Gravity

Types of Software Controls C++ C++

Types of Sensing N.S.T. Magnetic Encoder Linear Sensor

N.S.T. Magnetic Encoder Linear Sensor

Control Methods Open-loop Open-loopInput Devices Joystick Joystick

System Flow Chart

X, Y, Z-Axis Sensors

Computer

Human

Joystick

Pipette

Microscope Camera

X-Axis SQUIGGLE

MotorY-Axis

SQUIGGLE MotorZ-Axis

SQUIGGLE Motor

Microcontroller(2X)

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 DesignPipette

Final Design

Resolution

3.97 µm

AFTER 1 step

BEFORE

8.44 µm

BEFORE

AFTER 1 step

6.45 µm

BEFORE AFTER 1 step↑

6.2 µm

BEFORE AFTER 1 step ↓

Pipette Holder

Specification ComparisonSPEC # RANKING SPECIFICATION (METRIC) UNIT OF

MEASUREMARGINAL

VALUEIDEAL VALUE

ACTUAL VALUE

S5 1 Development costs $   $1,000 <$800S6 2 Manufacturing costs $   < $500 $400+S9 3 Fine motion resolution nm ± 100 500 8440S11 4 Supported software type binary     YESS8 5 Distance traveled in each axis mm   5 5.08S7 6 SQUIGGLE motor speed mm/s ± 2 5 Less than 3

S1 7Length of the mechanical

system cm +0 8 7.95Length of the entire system cm +0 8 20.5

S2 8Height of the mechanical

system cm +0 8 6.86

Height of the entire system cm +0 8 7.8

S3 9Width of the mechanical

system cm +0 8 4.06Width of the entire system cm +0 8 8

S12 10 Input device - joystick support binary     YESS10 11 Visual feedback rate fps ± 1 15 15S4 12 Weight of the entire system g +0 550 325

Cost AnalysisItem: Description Vendor Part Number Manufacturing P/N Vendor Weight (g) Quantity Cost Per Unit

Development Cost Comments

1 Tracker sensor TRK-1T02 02108-5-0000 New Scale Technologies 0.41 3 N/A N/A Donated by New Scale Technologies

2 Microcontroller MC33MB 02438-3-0000 New Scale Technologies 14.6 3 N/A N/A Donated by New Scale Technologies

3 FPC Extension 02587-5-0000 New Scale Technologies 0.39 4 N/A N/A Donated by New Scale Technologies

4 SQUIGGLE Motor SQL 1.8-RV 02892-6-0000 New Scale Technologies 0.24 5 N/A N/A Donated by New Scale Technologies

5 3-4V 6W Adapter 3A-061WP03 EMS033180-P5P-SZ New Scale Technologies N/A 3 N/A N/A Donated by New Scale Technologies

6 Power Connector for Microcontroller MXN-9-2695 New Scale Technologies 4.35 3 N/A N/A Donated by New Scale Technologies

7 USB2.0A to Micro USB B Cable New Scale Technologies N/A 3 N/A N/A Donated by New Scale Technologies

8 Tracker Magnet New Scale Technologies 0.04 4 N/A N/A Donated by New Scale Technologies

9 IOGEAR 4-Port USB 2.0 Hub GUH285 (Black) GUH285 B001GUY5PY Amazon 1 $4.99 $4.99

10 Logitech Extreme 3D Pro Joystick (Silver/Black) 963290-0403 B00009OY9U Amazon 1 $22.99 $22.99

11 Wear- and Water-Resistant Delrin® Acetal Resin 8739K44 McMaster-Carr 1.41 1 $15.28 $15.28 Weight is measured by 3/4"x2x12 in bar

12Metric Cheese Head Slotted Machine Screw

18-8 SS, M1 Size, 3 mm Length, .25 mm Pitch

91800A052 McMaster-Carr 3 $7.52 $22.56 A pack consists of 5 screws, we need 14 screws, or 3 packs.

13Metric Cheese Head Slotted Machine Screw

18-8 SS, M1.4 Size, 5 mm Length, .3 mm Pitch

91800A034 McMaster-Carr 1 $9.98 $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 1986K52 McMaster-Carr 1 $4.63 $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 8381K100 McMaster-Carr 3 $87.34 $262.02

16Metric Cheese Head Phillips Machine Screw 18-8 SS, M2.5 Size, 4mm Length, .45mm

Pitch94017A150 McMaster-Carr 1 $7.60 $7.60 A pack consists of 50 screws, we need 8 screws, or 1 pack.

17 Metric 316 SS Flat Head Phil Machine Screw M2 Size, 8mm Length, .4mm Pitch 91801A109 McMaster-Carr 1 $5.18 $5.18 A pack consists of 25 screws, we need 4 screws, or 1 pack.

18 Metric 316 SS Socket Head Cap Screw M3 Thread, 12mm Length, .5mm Pitch 92290A117 McMaster-Carr 1 $9.99 $9.99 A pack consists of 50 screws, we need 2 screws, or 1 pack.

19Polyurethane Flat Disc Spring 3/16" Rod, .5"

OD, .125" Thick94045K116

McMaster-Carr 1 $6.81 $6.81A pack consists of 6 washers, we need 1 washer, or 1 pack.

20Chrome-Coated Low Carbon Steel Rod 3/8"

Diameter, 1' Length7936K321

McMaster-Carr 1 $7.07 $7.07 To be machined for pipette Phshaft

21 PipetteNano-Bio Interface

Lab 1 N/A N/A Donated by Nano-Bio Interface Lab

Total = $379.10 Before Machining Cost

Project Schedule

• 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 sensorsCalibration of speed settings to achieve higher

• Limit switches with Flexible Printed Circuits rather than Copper tape

Future Suggestions

Successfully Designed Nanomanipulator to most customer needs

Hit all customer specifications except resolution

Project Evaluation

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

products and support

Acknowledgements