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

2. Cory Behm (ME), Jon Rosebrook (ME), and Sakif Noor (ME) NameRoleContact Cory BehmMechanical Design Engineer/Website Admin cjb5251@rit.edu Sakif NoorMechanical Controls Engineersxn6226@rit.edu Jon RosebrookMechanical Design Engineer/Project Leader jsr4541@rit.edu

3.  Product Introduction  Mechanical Systems  Direct Comparison  Controls  Future Plans  Questions/Concerns

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

7. Specific requirements from the customer that address characteristics (or metrics) related to this project.

8.  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

9. ◦ 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

10. Photos are found in New Scale Technologies Manual – http://www.newscaletech.com/downloads_registered/02892-6-0000_SQL-RV-1p8_MotorManual.pdf

11.  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.

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

14. System CriteriaGravity SystemSpring System Service Life00 Manufacturing Costs-0 Development Costs+0 # of Components-0 Weight-0 Friction Loss00 Ease of Implementing Return Force-0 Load on Motor+0 Backlash00 Fine Motion Resolution00 Quality of Computer Control00 Quality of Input Device00 Serviceability/Consistency00 Easy to Mount/Adjust00 Sensor Interference00 Temperature Sensitivity+0 Total -40 Total +30 Description of Systems: System ComponentsSystem #1System #5 Hold PipetteCollar Types of TracksBall Bearing Sliders Types of Return Force Methods in X-AxisGravityCoil Springs Types of Return Force Methods in Y-AxisGravityCoil Springs Types of Return Force Methods in Z-AxisGravity Types of Software ControlsC++ Types of Sensing N.S.T. Magnetic Encoder Linear Sensor Control MethodsOpen-loop Input DevicesJoystick

17. Assumed friction coefficient of 0.002 Found online for similar product

20.  Less Reliable ◦ Many parts to get stuck ◦ Shaking  Unforgiving ◦ Hanging mass size constrained to guide ◦ Small mass ~5grams low return force  Time Constraint against Spring System

25. Distance between encoder and magnet is ~0.25 mm

28. Expected Load (g) Max Acceptable Coeff of Friction Additional Load possible(g) Y30.620.34311.15 X30.61.40611.16 Z26.35N/A15.42 Aiming for 7 mm/s each axis should be capable of at over 10 grams more. Expected coefficient of friction is 0.002.  Motors are capable of producing forces required

29. Material: ABS Plastic Matweb tensile strength at yield 20.0 - 61.4 Mpa  FS>9.17 Overloaded with full weight of moving axes (though it shares this with another) and 60 grams force from the spring, which would cause the motor to stall.

30. Material: ABS Plastic Matweb tensile strength at yield 20.0 - 61.4 Mpa  FS>42

31. Overloaded with full weight of moving axes (though it shares this with another part) and 60 grams force from the motor, which would cause the motor to stall. Material: Delrin Acetal Solid Works yield strength 63000000  FS>77.7

32. Material: Delrin Acetal Solid Works yield strength 63000000  FS>90

33. Item:DescriptionVendor Part NumberManufacturing P/NVendorWeight (g)QuantityCost Per UnitDevelopment CostComments 1Tracker sensorTRK-1T0202108-5-0000 New Scale Technologies 0.413N/A Donated by New Scale Technologies 2MicrocontrollerMC33MB02438-3-0000 New Scale Technologies 14.63N/A Donated by New Scale Technologies 3FPC Extension02587-5-0000 New Scale Technologies 0.394N/A Donated by New Scale Technologies 4SQUIGGLE MotorSQL 1.8-RV02892-6-0000 New Scale Technologies 0.245N/A Donated by New Scale Technologies 53-4V 6W Adapter3A-061WP03EMS033180-P5P-SZ New Scale Technologies N/A3 Donated by New Scale Technologies 6Power Connector for MicrocontrollerMXN-9-2695 New Scale Technologies 4.353N/A Donated by New Scale Technologies 7USB2.0A to Micro USB B Cable New Scale Technologies N/A3 Donated by New Scale Technologies 8Tracker Magnet New Scale Technologies 0.044N/A Donated by New Scale Technologies 9IOGEAR 4-Port USB 2.0 Hub GUH285 (Black)GUH285B001GUY5PYAmazon1$4.99 10Logitech Extreme 3D Pro Joystick (Silver/Black)963290-0403B00009OY9UAmazon1$22.99 11 Wear- and Water-Resistant Delrin® Acetal Resin 8739K44McMaster-Carr1.411$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 91800A052McMaster-Carr3$7.52$22.56A 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 91800A034McMaster-Carr1$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 1986K52McMaster-Carr1$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 8381K100McMaster-Carr3$87.34$262.02 16 Metric Cheese Head Phillips Machine Screw 18-8 SS, M2.5 Size, 4mm Length,.45mm Pitch 94017A150McMaster-Carr1$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 91801A109McMaster-Carr1$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 92290A117McMaster-Carr1$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 McMaster-Carr1$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 McMaster-Carr1$7.07 To be machined for pipette Phshaft 21Pipette Nano-Bio Interface Lab1N/A Donated by Nano-Bio Interface Lab Total = $379.10 Before Machining Cost

34. SpecificationsRequirementSpring System Development Cost<$1000~650 Overall SizeMax 8x8x8 cm8x8x8 cm Overall Weight550 grams165 grams Speed of System5 mm/s5-7 mm/s Distance traveled5 mm6 mm Joystick supportedYes

35.  Speed  Travel  Resolution  Weight  Dimensions

36. 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 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 testing236Test motor only within advised parameters 12Motor does not respond to input motor does not move screw, no force to move pipette programming issue236Test code for every possible movement of motor 16Broken circuit boardno movement or tracking capabilitiesover testing, water damage, dropping236 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 21FPC does not reach controllercomputer does not communicate with motorFPC not long enough236Use extensions if necessary 2Carriage Slide sticks on railMotor does not move accuratelytoo much friction on rail224Lubricate slides or replace with lower friction Slides 3Spring breaksNo preload on motor, inaccurate movementsOver use over compression224learn limits on springs 20Screws in pipette clamp do not holdpipette falls out of clampmetal strips tapped delrin224Extra delrin or longer bolts to attach nut at end

37. 1Motor falls out of mountMotor moves instead of moving pipettecrack in mount133Make mount out of durable material 4Lateral Force on screwMotor is stripped/brokenforce pushing laterally on screw133 Rail system only allows force along axis of screw, screws protected from being touched 5FPC brokenMotor does not worktoo much bending133design so FPC is not bent in a smaller radius than 1mm 8improper position readingposition of motor unknownimproper placement of guide magnet133 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 screw133create 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 15 Pipette and mount are too heavy for SQUIGGLE motor Motors cannot manipulate placement of pipette customer expectations to move pipette are not hit 133 accurately measure the weight of each component required for movement. Allocate motors according force required to move in certain axis 17Parts do not arrive on time Not able to assemble working model for testing High Lead time for parts133 Identify necessary parts early and order them as soon as possible 19Delrin bends or breaksbends and breaksunexpected stress133Protective cover to prevent unseen external loads 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 22Preload insufficientno carriage returnforce too low122 be prepared to adjust spring stopper length to get higher force 23Tolerance on 3-d Printingerrors in the housingtolerance too low122Have hand tools to modify housing if necessary 24Mount to microscope not rigid enoughpipette moves too much under microscopebending of mount111 torque screws properly, set aside enough budget for redesign mount

38.  Final Project Review – Prepare for MSD II  Order Parts  Manufacture Parts  Build and Test Components

40. Questions??? Thank you for coming!