SQUIGGLE Nano-Manipulator System

Multidisciplinary Senior Design I – 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 Controls Engineer sxn6226@rit.eduJon Rosebrook Mechanical Design

Engineer/Project Leaderjsr4541@rit.edu

Product Introduction Mechanical Systems Direct Comparison Controls Future Plans Questions/Concerns

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 SpecificationsSpecific requirements from the customer that

address characteristics (or metrics) related to this project.

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

◦ 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

Squiggle Motor

Photos are found in New Scale Technologies Manual – http://www.newscaletech.com/downloads_registered/02892-6-0000_SQL-RV-1p8_MotorManual.pdf

The House of Quality document is a diagram used for defining the relationship between customer needs and the product’s engineering specifications (or customer specifications).

The House of Quality provides a raw score of the relationship, thus allowing the team to rank the importance of completing the given relationship.

The House of Quality allows us to create a Pareto chart.

House of Quality

House of Quality

Relationships:9 = Strong3 = Moderate1 = Weak0 = No Relationship

Importance Rating:1 = Low Importance3 = Moderate Importance5 = High Importance

First House of Quality

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

SensorN.S.T. Magnetic Encoder Linear

SensorControl Methods Open-loop Open-loop

Input Devices Joystick Joystick

System Flow Chart

Basic System Idea

Carriage and Track• Assumed

friction coefficient of 0.002

• Found online for similar product

Gravity System

Gravity System

Less Reliable◦ Many parts to get stuck◦ Shaking

Unforgiving◦ Hanging mass size constrained to guide◦ Small mass ~5grams low return force

Time Constraint against Spring System

Gravity System Problems

Spring System

Spring System

Spring Information

Spring System Axis Connection

Magnetic Trackers• Distance

between encoder and magnet is ~0.25 mm

Housing

Pipette Mounting

Motor LoadExpected Load (g)

Max Acceptable Coeff of Friction

Additional Load possible(g)

Y 30.62 0.343 11.15X 30.61 .406 11.16Z 26.35 N/A 15.42

Aiming for 7 mm/s each axis should be capable of at over 10 grams more. Expected coefficient of friction is 0.002.Motors are capable of producing forces required

0 2 4 6 8 10 12 14 16 180

10

20

30

40

50

60

70

Series1; Expected Z; 26.35

Series1; Expected Y; 30.6220092Series1; Expected X;

30.6119292Series1; 41.77

f(x) = 0.0116287981197063 x³ − 0.342138970868356 x² − 0.698058412545676 x + 59.4368995463669R² = 0.999965463717602

3.3V typ case curvefit

Speed (mm/s)

Load

(gr

ams)

Spring Stopper

Material: ABS Plastic

Matweb tensile strength at yield20.0 - 61.4 Mpa

FS>9.17

Overloaded with full weight of moving axes (though it shares this with another) and 60 grams force from the spring, which would cause the motor to stall.

Bottom Housing

Material: ABS Plastic

Matweb tensile strength at yield20.0 - 61.4 Mpa

FS>42

Link-Y Overloaded with full weight of moving axes (though it shares this with another part) and 60 grams force from the motor, which would cause the motor to stall.

Material: Delrin Acetal

Solid Works yield strength63000000

FS>77.7

Link-Holder

Material: Delrin Acetal

Solid Works yield strength63000000

FS>90

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 $4.9910 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

Specifications Requirement Spring SystemDevelopment Cost <$1000 ~650Overall Size Max 8x8x8 cm 8x8x8 cmOverall Weight 550 grams 165 gramsSpeed of System 5 mm/s 5-7 mm/sDistance traveled 5 mm 6 mmJoystick supported Yes Yes

Specification Comparison

Speed Travel Resolution Weight Dimensions

Test Plan

Failure Modes and Effects Analysis

ID Risk Item Effect Cause Likelihood Severity Importance Action to Minimize Risk

10 Screw runs out of motor motor no longer turns screw and no longer moves pippette

screw pushed out too far and falls out of motor 3 3 9 write code to stop motor before end of screw falls out

of motor

6 motor has hard stop Jamming of threads on motor mechanical block of rail 2 3 6 design housing to protect motor and rails so parts cannot interfere. Keep axial load under 20 grams

7 dirt jams up motor motor does not turn screw unprotected, unclean screw 2 3 6 design motor housing to protect motor from dirt and make cleanable

9 Slow motor speed unable to hit customer expected speed too much back force on motor 3 2 6 test motor capability, be sure to keep the back load below 20 grams for each axis

11 Motor Broken not enough force to move pipette over testing 2 3 6 Test motor only within advised parameters

12 Motor does not respond to input motor does not move screw, no force to move pipette programming issue 2 3 6 Test code for every possible movement of motor

16 Broken circuit board no movement or tracking capabilities over testing, water damage, dropping 2 3 6Have back up plan to get new circuits if necessary, be

careful when handling and be sure to use within recommended capabilities. Keep away rom water

21 FPC does not reach controller computer does not communicate with motor FPC not long enough 2 3 6 Use extensions if necessary

2 Carriage Slide sticks on rail Motor does not move accurately too much friction on rail 2 2 4 Lubricate slides or replace with lower friction Slides

3 Spring breaks No preload on motor, inaccurate movements Over use over compression 2 2 4 learn limits on springs

20 Screws in pipette clamp do not hold pipette falls out of clamp metal strips tapped delrin 2 2 4 Extra delrin or longer bolts to attach nut at end

Failure Modes and Effects Analysis

1 Motor falls out of mount Motor moves instead of moving pipette crack in mount 1 3 3 Make mount out of durable material

4 Lateral Force on screw Motor is stripped/broken force pushing laterally on screw 1 3 3 Rail system only allows force along axis of screw, screws protected from being touched

5 FPC broken Motor does not work too much bending 1 3 3 design so FPC is not bent in a smaller radius than 1mm

8 improper position reading position of motor unknown improper placement of guide magnet 1 3 3follow newscale guidelines for placing guide magnet, stick to surface that magnet will not come off without

being forced

13 Screw is stripped motor does not turn screw in axis, no force to move pipette over use/testing of screw 1 3 3 create plan to acquire back up screws if necessary

14 Clamp does not hold pipette improper movement of pipette wrong size clamp for pipette 1 3 3 take accurate measurements of pipette or design specific pipette for manipulator

15 Pipette and mount are too heavy for SQUIGGLE motor

Motors cannot manipulate placement of pipette

customer expectations to move pipette are not hit 1 3 3

accurately measure the weight of each component required for movement. Allocate motors according

force required to move in certain axis

17 Parts do not arrive on time Not able to assemble working model for testing High Lead time for parts 1 3 3 Identify necessary parts early and order them as soon

as possible19 Delrin bends or breaks bends and breaks unexpected stress 1 3 3 Protective cover to prevent unseen external loads

18 Nanomanipulator mount is too weak nanomanipulator does not attach to microscope

wrong material type for mounting nanomanipulator 1 2 2

Understand and measure weights of nanomanipulator, choose material capable of support with microscope

attachment capabilities

22 Preload insufficient no carriage return force too low 1 2 2 be prepared to adjust spring stopper length to get higher force

23 Tolerance on 3-d Printing errors in the housing tolerance too low 1 2 2 Have hand tools to modify housing if necessary

24 Mount to microscope not rigid enough pipette moves too much under microscope bending of mount 1 1 1 torque screws properly, set aside enough budget for redesign mount

Final Project Review – Prepare for MSD II Order Parts Manufacture Parts Build and Test Components

Future plans

Project Schedule

Questions???

Thank you for coming!