SQUIGGLE Nano-Manipulator System Multidisciplinary Senior Design II – P13372 Cory Behm Sakif Noor Jon Rosebrook

Project Team Name Role Contact Cory Behm 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

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 ($10-50K) 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

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 RANKING SPECIFICATION (METRIC) UNIT OF MEASURE MARGINAL VALUE IDEAL VALUE ACTUAL VALUE S5 1 Development costs $   $1,000 <$800 S6 2 Manufacturing costs < $500 $400+ S9 3 Fine motion resolution nm ± 100 500 8440 S11 4 Supported software type binary YES S8 5 Distance traveled in each axis mm 5.08 S7 6 SQUIGGLE motor speed mm/s ± 2 Less than 3 S1 7 Length of the mechanical system cm +0 8 7.95 Length of the entire system 20.5 S2 Height of the mechanical system 6.86 Height of the entire system 7.8 S3 9 Width of the mechanical system 4.06 Width of the entire system S12 10 Input device - joystick support S10 11 Visual feedback rate fps ± 1 15 S4 12 Weight of the entire system g 550 325 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

Photos are found in New Scale Technologies Manual – Squiggle Motor Photos are found in New Scale Technologies Manual – http://www.newscaletech.com/downloads_registered/02892-6-0000_SQL-RV-1p8_MotorManual.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 The Pareto chart contains both bars and a line graph, where the individual specification values are represented in descending order by the bars and the cumulative project completion is represented by the blue line.

Description of Systems: System Selection System Criteria Gravity System Spring System 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 - 4 Total + 3 Description of Systems: System Components System #1 System #5 Hold Pipette Collar Types of Tracks Ball Bearing Sliders Types of Return Force Methods in X-Axis Gravity Coil Springs Types of Return Force Methods in Y-Axis Types of Return Force Methods in Z-Axis Types of Software Controls C++ Types of Sensing N.S.T. Magnetic Encoder Linear Sensor Control Methods Open-loop Input Devices Joystick

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

Spring 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 BEFORE AFTER 1 step  AFTER 1 step  3.97 µm 8.44 µm

Pipette Holder

Specification Comparison RANKING SPECIFICATION (METRIC) UNIT OF MEASURE MARGINAL VALUE IDEAL VALUE ACTUAL VALUE S5 1 Development costs $   $1,000 <$800 S6 2 Manufacturing costs < $500 $400+ S9 3 Fine motion resolution nm ± 100 500 8440 S11 4 Supported software type binary YES S8 5 Distance traveled in each axis mm 5.08 S7 6 SQUIGGLE motor speed mm/s ± 2 Less than 3 S1 7 Length of the mechanical system cm +0 8 7.95 Length of the entire system 20.5 S2 Height of the mechanical system 6.86 Height of the entire system 7.8 S3 9 Width of the mechanical system 4.06 Width of the entire system S12 10 Input device - joystick support S10 11 Visual feedback rate fps ± 1 15 S4 12 Weight of the entire system g 550 325

Cost Analysis Total = $379.10 Before Machining Cost Item: 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 Donated by New Scale Technologies 2 Microcontroller MC33MB 02438-3-0000 14.6 FPC Extension 02587-5-0000 0.39 4 SQUIGGLE Motor SQL 1.8-RV 02892-6-0000 0.24 5 3-4V 6W Adapter 3A-061WP03 EMS033180-P5P-SZ 6 Power Connector for Microcontroller MXN-9-2695 4.35 7 USB2.0A to Micro USB B Cable 8 Tracker Magnet 0.04 9 IOGEAR 4-Port USB 2.0 Hub GUH285 (Black) GUH285 B001GUY5PY Amazon $4.99 10 Logitech Extreme 3D Pro Joystick (Silver/Black) 963290-0403 B00009OY9U $22.99 11 Wear- and Water-Resistant Delrin® Acetal Resin 8739K44 McMaster-Carr 1.41 $15.28 Weight is measured by 3/4"x2x12 in bar 12 Metric Cheese Head Slotted Machine Screw 18-8 SS, M1 Size, 3 mm Length, .25 mm Pitch 91800A052 $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, M1.4 Size, 5 mm Length, .3 mm Pitch 91800A034 $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 $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 $87.34 $262.02 16 Metric Cheese Head Phillips Machine Screw 18-8 SS, M2.5 Size, 4mm Length, .45mm Pitch 94017A150 $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 $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 $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 94045K116 $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 7936K321 $7.07 To be machined for pipette Phshaft 21 Pipette Nano-Bio Interface Lab 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