1. SQUIGGLE NANOMANIPULATOR
ROCHESTER INSTITUTE OF TECHNOLOGY
CORY J. BEHM (ME) JONATHAN S. ROSEBROOK (ME) SAKIF NOOR (ME)
BACKGROUND:
The relative high cost and general inaccessibility of nanotechnology limits the ability for people to recognize the importance and benefits of nanoscale sciences. Of specific concern to our group is the high cost and inaccessibility of nanomanipulators. These nanomanipulators are extremely high precision positioning instruments that, 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 to precise locations and orientations. Typical nanomanipulators can range from $10-50K which excludes many from acquiring them for research or educational purposes. Greater accessibility leads to greater interest and, ultimately, a better understanding and new breakthroughs in nanoscale sciences.
MISSION STATEMENT:
Develop a low-cost, high resolution, three-axis Cartesian nanomanipulator that is easy to use.
Utilize SQUIGGLE piezoelectric linear actuators from New Scale Technologies.
Implement
nanomanipulator for
RIT’s Nano-Bio
Interface Laboratory’s
microscope.
The P13372 Team
(From L to R: Behm, Rosebrook, and Noor)
PROJECT TIMELINE:
September 2012
Gather Background Information
Interview With Customer
October
New Scale Visit – Acquire Hardware
System Design – (2 Systems)
November
System Selection
Detailed Design
Hardware Testing
December
Acquire all BOM components
1-axis Movement Test
January 2013
3-D Print the Parts
3-Axis Movement Test
Redesign
February
Mounted to Microscope
Final Tests
Technical Paper and Poster
PROJECT PARETO CHART:
SYSTEM OVERVIEW:
X, Y, Z-Axis Sensors
Computer
Human
Joystick
Pipette
Microscope Camera
X-Axis SQUIGGLE Motor
Y-Axis SQUIGGLE Motor
Z-Axis SQUIGGLE Motor
Two Microcontrollers
Derived from the House of Quality
Targets essential customer specifications
Low-cost is a priority
SYSTEM PRODUCED:
Rail
Ball Bearing Carriage
Spring -around rail
Forceps
Screw in Carriage
Close-up of SQUIGGLE Motor
Magnetic Location Sensor
Controllers (x2)
USB Hub
Axis Block
Pipette
Motor Stops
SYSTEM CONCEPT SELECTION:
 System Pugh Chart
Gravity
Magnet
Constant force Spring
Coil Spring
Unconventional/Beam bending Spring
Constant Force +
Cost Effective -
Will not interfere with tracker
Stable when transporting unit
Mounting Ease
Controls Compensating Ease
Weight
Serviceability
Speed Limit
Temperature Sensitivity
Service Life
Total + 7 2 4
Total - 6 1
Close up of one axis spring rail/carriage system (above)
Close up of magnetic tracking sensor (below)
ABS Printed Part
Magnet (glued in)
Delrin contact for screw (glued on and filed down)
Spring and gravity return forces type systems were selected
Magnets were first ignored due to tracking sensor interference but were found to work best in the end.
Microscope
MOTION RESOLUTION:
No spring to push down since weight is sufficient
Spring pushing to the left
Pipette in Holder
Nanomanipulator
System
8.44 µm
BEFORE
AFTER
1 step 
3.97 µm
AFTER
1 step 
BEFORE
Masses
Gravity System Design (CAD)
6.45 µm
BEFORE
AFTER
1 step↑
6.2 µm
BEFORE
AFTER
1 step ↓
Spring System turned out to be less complex and lighter
Spring System was decided to be the final system after first term of MSD.
Microscope Platform
Spring System Design (CAD)
Final System mounted on the microscope
Each motor step was conducted at full speed .
FINAL KNOWLEDGE
Total budget of the project reached no higher than $700, of which over $270 was on spare parts.
Friction plays a huge role for the SQUIGGLE motor
Implementation on microscope was a success
FINAL INFRASTRUCTURE
Physical size(8x17.4x7 cm) and weight 325 ( g)
Resolution – ( nm)
Mounted to the left side of microscope
FUTURE IMPROVEMENTS:
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
ADDITIONAL INFORMATION: For additional information visit our
team website online at:
P13372
ACKNOWLEDGEMENTS:
Dr. Michael G. Schrlau (Primary Customer)
William Nowak (Team Guide)
New Scale Technologies for their time, products and support