Multidisciplinary Senior Design I – P13372 Cory Behm Sakif Noor Jon Rosebrook

Cory Behm (ME), Jon Rosebrook (ME), and Sakif Noor (ME) NameRoleContact Cory BehmMechanical Design Engineer/Website Admin Sakif NoorMechanical Controls u Jon RosebrookMechanical Design Engineer/Project Leader

 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

 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.

 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

Below is what the customer expects the group to try and accomplish in the design of the nanomanipulator along with its relative importance.

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 info and pictures from

Photos are found in New Scale Technologies Manual –

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 info from

 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.

Relationships: 9 = Strong 3 = Moderate 1 = Weak 0 = No Relationship Importance Rating: 1 = Low Importance 3 = Moderate Importance 5 = High Importance

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

Manipulate Pipette Under Microscope Control Computer Control – Local or Remote SQUIGGLE Software- Active X LabViewMatlabVisual BasicC++Input DeviceMouseJoystickSingle Axis KnobsPosition SensingOptical Encoder New Scale Technologies Magnetic Encoder Linear SensorRotational Sensor Resistive Encoder/Potentiometer

Manipulate Pipette Under Microscope Pipette MountingCollarZiptieRubber bandClampPipette MovementSQUIGGLE MotorsMotion RestrictionsBall Bearing SlidersBall Bearing on ShaftFriction Contact SlidersPulleyReturn PipetteGravityMagnetConstant Force SpringCoil Spring Non-conventional Spring Servo MotorsHydraulics/PneumaticsDC Motors

Description of Systems: System Components System #1System #2System #3System #4System #5System #6 Hold PipetteCollarC-Clamp RubberbandCollarC-Clamp Types of TracksBall Bearing Sliders Friction Contact Sliders Ball Bearing Sliders Friction Contact Sliders Ball Bearing Sliders Types of Return Force Methods in X-AxisGravityCoil Springs Unconventional Springs Coil SpringsMagnet Types of Return Force Methods in Y-AxisGravityMagnetCoil Springs Magnet Types of Return Force Methods in Z-AxisGravity Unconventional Springs Coil SpringsMagnetGravity Types of Software ControlsC++MatlabLabviewVisual BasicC++ Types of Sensing N.S.T. Magnetic Encoder Linear Sensor Resistive Encoder/Potentiome ter N.S.T. Magnetic Encoder Rotational Sensor Optical Encoder N.S.T. Magnetic Encoder Linear Sensor N.S.T. Magnetic Encoder Rotational Sensor Control MethodsOpen-loopPIDPIOpen-loop Input DevicesJoystick Video Game Controller MouseSingle-Axis KnobsJoystickMouse

 Collar  Clamp  Ball Bearing Sliders  Friction Sliders  Gravity  Unconventional Spring  Magnet

System CriteriaSystem #1System #2System #3System #4System #5System #6 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 Temperature Sensitivity Total -110 DATUM 1111 Total

System CriteriaSystem #1System #5System #6 Service Life00- Manufacturing Costs+0+ Development Costs+0+ # of Components-0+ Weight-00 Friction Loss000 Ease of Implementing Return Force-0+ Load on Motor+0+ Backlash00- Fine Motion Resolution000 Quality of Computer Control000 Quality of Input Device000 Serviceability/Consistency00+ Easy to Mount/Adjust00- Sensor Interference00- Temperature Sensitivity+0- Total -305 Total +406 Description of Systems: System ComponentsSystem #1System #5System #6 Hold PipetteCollar C-Clamp Types of TracksBall Bearing Sliders Types of Return Force Methods in X-AxisGravityCoil SpringsMagnet Types of Return Force Methods in Y-AxisGravityCoil SpringsMagnet Types of Return Force Methods in Z-AxisGravity Types of Software ControlsC++ Types of Sensing N.S.T. Magnetic Encoder Linear Sensor N.S.T. Magnetic Encoder Rotational Sensor Control MethodsOpen-loop Input DevicesJoystick Mouse

Ball Bearing Case Slide Bearing Case

Loads in gramsSpeed in mm/s SlideYXZXYZXYZ BallSpring Grav FrictionSpring Grav BallGrav

IDRisk ItemEffectCauseLikelihoodSeverityImportanceAction to Minimize Risk 10Screw runs out of motor motor no longer turns screw and no longer moves pippette screw pushed out too far and falls out of motor 339 write code to stop motor before end of screw falls out of motor 17Parts do not arrive on time Not able to assemble working model for testing High Lead time for parts339 Identify necessary parts early and order them as soon as possible 6motor has hard stopJamming of threads on motormechanical block of rail236 design housing to protect motor and rails so parts cannot interfere. Keep axial load under 20 grams 7dirt jams up motormotor does not turn screwunprotected, unclean screw236 design motor housing to protect motor from dirt and make cleanable 9Slow motor speedunable to hit customer expected speedtoo much back force on motor326 test motor capability, be sure to keep the back load below 20 grams for each axis 11Motor Brokennot enough force to move pipetteover testing236 Test motor only within advised parameters 12Motor does not respond to input motor does not move screw, no force to move pipette programming issue236 Test code for every possible movement of motor 15 Pipette and mount are too heavy for SQUIGGLE motor Motors cannot manipulate placement of pipette customer expectations to move pipette are not hit 236 accurately measure the weight of each component required for movement. Allocate motors according force required to move in certain axis 16Broken circuit boardno movement or tracking capabilities over testing, water damage, dropping 236 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

2Slide sticks on railMotor does not move accuratelytoo much friction on rail224 Purchase rails with least amount of friction within a reasonable price 3Spring breaks No preload on motor, inaccurate movements Over use224learn limits on springs 1Motor falls out of mount Motor moves instead of moving pipette crack in mount133Make mount out of durable material 4Lateral Force on screwMotor is stripped/broken force pushing laterally on screw 133 Rail system only allows force along axis of screw, screws protected from being touched 5FPC brokenMotor does not worktoo much bending133 design so FPC is not bent in a smaller radius than 1mm 8improper position readingposition of motor unknown improper placement of guide magnet 133 follow newscale guidelines for placing guide magnet, stick to surface that magnet will not come off without being forced 13Screw is stripped motor does not turn screw in axis, no force to move pipette over use/testing of screw133 create plan to acquire back up screws if necessary 14Clamp does not hold pipetteimproper movement of pipettewrong size clamp for pipette133 take accurate measurements of pipette or design specific pipette for manipulator 18Nanomanipulator mount is too weak nanomanipulator does not attach to microscope wrong material type for mounting nanomanipulator 122 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

Tasks SeptemberOctoberNovemberDecemberJanuary 3rd- 7th 10th- 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!