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

2. 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
Sakif Noor
Mechanical Design/Assembly/Rework Engineer/C++ Programmer
Jon Rosebrook
Mechanical Design Engineer/Project Leader

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

4. 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

5. 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

6. 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.

7. 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.

8. 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

9. Photos are found in New Scale Technologies Manual –
Squiggle Motor
Photos are found in New Scale Technologies Manual –

10. 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

11. 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.

12. 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

13. 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)

14. 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)

15. Magnetic Trackers
Distance between encoder and magnet is ~0.25 mm

16. Final Design

17. Final Design
Pipette

18. Final Design

19. Resolution BEFORE BEFORE AFTER 1 step  AFTER 1 step  3.97 µm 8.44 µm

20. Pipette Holder

21. 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

22. 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
New Scale Technologies
0.41 3
N/A
Donated by New Scale Technologies 2
Microcontroller
MC33MB
14.6
FPC Extension
0.39 4
SQUIGGLE Motor
SQL 1.8-RV
0.24 5
3-4V 6W Adapter
3A-061WP03
EMS P5P-SZ 6
Power Connector for Microcontroller
MXN
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)
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 = $ Before Machining Cost

23. Project Schedule

24. 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

25. Project Evaluation
Successfully Designed Nanomanipulator to most customer needs
Hit all customer specifications except resolution

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