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.edu

Jon Rosebrook Mechanical Design Engineer/Project Leader

jsr4541@rit.edu

Mission Statement Project Description/Summary Customer Needs and Specifications House of Quality and Pareto Chart SQUIGGLE Motors Function Tree

◦ Controls◦ Mechanical

Concepts selection – Pugh Charts Failure Modes and Effects Assessment Project Schedule Future Plans

Meeting Agenda

Design and build a low-cost, high-resolution nanomanipulator using the SQUIGGLE piezoelectric linear actuators from our sponsor, New Scale Technologies.

Demonstrate its capabilities in RIT’s Nano-Bio Interface Laboratory and compare its performance to commercially available nanomanipulators.

Mission Statement

High costs ($10-50K) and inaccessibility of nanotechnology is very limiting to research

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.

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

Our nanomanipulator will match the abilities of nanomanipulators currently on the market at a fraction of the cost.

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.

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

The rotating nut turns the threaded screw, creating a smooth in-and-out linear motion. Thread friction drives the shaft, directly converting rotary motion to linear motion. This means:◦ No parasitic drag - less wasted power◦ Zero backlash (with a light pre-load)◦ 500 nanometer resolution◦ 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

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

Used for concept generation Answers the questions How/Why Pictorially shows where decisions need to be

made

Function tree

CONTROLS Function tree

Manipulate Pipette Under Microscope

Control

Computer Control – Local or Remote

SQUIGGLE Software-Active X

LabView Matlab Visual Basic C++

Input Device

Mouse Joystick Single Axis Knobs

Position Sensing

Optical Encoder New Scale Technologies Magnetic Encoder

Linear Sensor Rotational Sensor

Resistive Encoder/Potentiometer

Mechanical Function tree

Manipulate Pipette Under Microscope

Pipette Mounting

Collar Ziptie Rubber band Clamp

Pipette Movement

SQUIGGLE Motors

Motion Restrictions

Ball Bearing Sliders Ball Bearing on Shaft Friction Contact Sliders Pulley

Return Pipette

Gravity Magnet Constant Force Spring Coil Spring Non-conventional Spring

Servo Motors Hydraulics/Pneumatics DC Motors

System SelectionDescription of Systems:

System Components System #1 System #2 System #3 System #4 System #5 System #6Hold Pipette Collar C-Clamp C-Clamp Rubberband Collar C-Clamp

Types of Tracks Ball Bearing Sliders Friction Contact Sliders Ball Bearing Sliders Friction Contact

Sliders Ball Bearing Sliders Ball Bearing Sliders

Types of Return Force Methods in X-Axis Gravity Coil Springs Coil Springs Unconventional Springs Coil Springs Magnet

Types of Return Force Methods in Y-Axis Gravity Magnet Coil Springs Coil Springs Coil Springs Magnet

Types of Return Force Methods in Z-Axis Gravity Unconventional Springs Coil Springs Magnet Gravity Gravity

Types of Software Controls C++ Matlab Labview Visual Basic C++ C++

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

Resistive Encoder/Potentiome

ter

N.S.T. Magnetic Encoder Rotational

SensorOptical Encoder

N.S.T. Magnetic Encoder Linear

Sensor

N.S.T. Magnetic Encoder Rotational

Sensor

Control Methods Open-loop PID PI Open-loop Open-loop Open-loop

Input Devices Joystick Video Game Controller Mouse Single-Axis Knobs Joystick Mouse

Collar Clamp Ball Bearing Sliders Friction Sliders Gravity Unconventional Spring Magnet

Subsystem Definition

System SelectionSystem Criteria System #1 System #2 System #3 System #4 System #5 System #6

Service Life + 0 0 - + 0

Manufacturing Costs + 0 0 - 0 0

Development Costs + - 0 - 0 0

# of Components + 0 0 - 0 0

Weight + - 0 - + +

Friction Loss 0 - 0 - 0 0

Ease of Implementing Return Force - - 0 - + +

Load on Motor + - 0 - 0 +

Backlash 0 - 0 - 0 -

Fine Motion Resolution 0 - 0 - 0 0

Quality of Computer Control + 0 0 + + +

Quality of Input Device + - 0 0 + 0

Serviceability/Consistency 0 - 0 0 + +

Easy to Mount/Adjust 0 + 0 - 0 +

Temperature Sensitivity + - 0 0 - +

Total - 1 10 DATUM 11 1 1

Total + 9 1 1 6 7

System SelectionSystem Criteria System #1 System #5 System #6

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

# of Components - 0 +Weight - 0 0

Friction Loss 0 0 0Ease of Implementing Return Force - 0 +

Load on Motor + 0 +Backlash 0 0 -

Fine Motion Resolution 0 0 0Quality of Computer Control 0 0 0

Quality of Input Device 0 0 0Serviceability/Consistency 0 0 +

Easy to Mount/Adjust 0 0 -Sensor Interference 0 0 -

Temperature Sensitivity + 0 -Total - 3 0 5Total + 4 0 6

Description of Systems:System Components System #1 System #5 System #6

Hold Pipette Collar Collar C-ClampTypes of Tracks Ball Bearing Sliders Ball Bearing Sliders Ball Bearing Sliders

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

Types of Software Controls C++ C++ C++

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

N.S.T. Magnetic Encoder Linear Sensor

N.S.T. Magnetic Encoder Rotational Sensor

Control Methods Open-loop Open-loop Open-loopInput Devices Joystick Joystick Mouse

Spring vs. Gravity Return Force

Ball Bearing Case

Slide Bearing Case

System Idea

Speed

0 2 4 6 8 10 12 14 16 180

10

20

30

40

50

60

70

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

3.3V Typical curve fit

Speed (cont)

Loads in grams Speed in mm/s

Slide Y X Z X Y Z X Y Z

Ball Spring Spring Grav 22.2 6.242464 6.254864 11.9195 16.8176 16.8123

Friction Spring Spring Grav 22.2 11.67756 12.91756 11.9195 14.85801 14.47404

Ball Grav Grav Grav 22.2 3.122062 3.140462 11.9195 17.22934 17.22447

Failure Modes and Effects Analysis

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

10 Screw runs out of motormotor no longer turns screw and no

longer moves pippettescrew pushed out too far and

falls out of motor3 3 9

write code to stop motor before end of screw falls out of motor

17 Parts do not arrive on timeNot able to assemble working model for

testingHigh Lead time for parts 3 3 9

Identify necessary parts early and order them as soon as possible

6 motor has hard stop Jamming of threads on motor mechanical block of rail 2 3 6design 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 6design 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 6test 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 6Test motor only within advised

parameters

12 Motor does not respond to inputmotor does not move screw, no force to

move pipetteprogramming issue 2 3 6

Test code for every possible movement of motor

15Pipette and mount are too heavy for

SQUIGGLE motorMotors cannot manipulate placement of

pipettecustomer expectations to move pipette are not hit

2 3 6

accurately measure the weight of each component required for movement.

Allocate motors according force required to move in certain axis

16 Broken circuit board no movement or tracking capabilitiesover testing, water damage,

dropping2 3 6

Have 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

Failure Modes and Effects Analysis

2 Slide sticks on rail Motor does not move accurately too much friction on rail 2 2 4Purchase rails with least amount of

friction within a reasonable price

3 Spring breaksNo preload on motor, inaccurate

movementsOver use 2 2 4 learn limits on springs

1 Motor falls out of mountMotor moves instead of moving

pipettecrack in mount 1 3 3 Make mount out of durable material

4 Lateral Force on screw Motor is stripped/brokenforce pushing laterally on

screw1 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 3design so FPC is not bent in a smaller

radius than 1mm

8 improper position reading position of motor unknownimproper placement of guide

magnet1 3 3

follow newscale guidelines for placing guide magnet, stick to surface that

magnet will not come off without being forced

13 Screw is strippedmotor does not turn screw in axis, no

force to move pipetteover 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 3take accurate measurements of

pipette or design specific pipette for manipulator

18 Nanomanipulator mount is too weaknanomanipulator does not attach to

microscopewrong material type for

mounting nanomanipulator1 2 2

Understand and measure weights of nanomanipulator, choose material

capable of support with microscope attachment capabilities

Feasibility Analysis Detailed Design Output: BOM, Drawings,

Schematics, Flow Charts Continue to Update Risk Assessment Plan to meet Customer Needs & Design

Specs, including Preliminary Test Plan Detailed Design Review execution Final Project Review – Prepare for MSD II

Future plans

Project ScheduleTasks

September October November December January

3rd-7th10th-14th

17th-21st

24th-28th

1st-5th

8th-12th

15th-19th

22nd-26th

28th-2nd

5th-9th

12th-16th

19th-23rd

26th-30th

3rd-7th

10th-14th

17th-21st

24th-28th

31st-4th

7th-11th

14th-18th

21st-25th

28th-1st

MSD I

System Level Design THANKSGIVING HOLIDAY BREAK

Review Customer Needs and Specifications

Pairwise Comparison of Customer Needs

Create House of Quality

Modify Specifications as Needed

Brainstorm Different Engineering Solutions

Establish Design Benchmark (Function Tree)

Perform Initial Cost Analysis of Possible Solutions

Select Design Concept

Perform Risk Management Analysis     System Design Review Redefine System Level Design per Recommendations Update Project Plan

Create Detailed Design of Manipulator Select Primary Design Variables Generate System Layout, Start on Cost Analysis Select Components as Specified in Detailed Design

Perform Any Calculations/Drawings

Create Bill of Materials (BOM)  

Create Drawing Package  

Perform Final Cost Analysis  

Develop System Assembly Plan  

Finalize Design

Finalize BOM

Order Long Leadtime Parts if Applicable

Finalize All Documents

Final Project Management Review

Questions???

Thank you for coming!