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Published byElla Douglas Modified over 9 years ago
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P13371
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Customer Dr. Schrlau Team Jacob Bertani Bridget Lally Avash Joshi Nick Matson Keith Slusser Guide Bill Nowak
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Jacob Bertani – Lead Hydraulic Subsystem Engineer Avash Joshi – Lead Driver / Hydraulic Interface Subsystem Engineer Keith Slusser – Lead Manipulator Subsystem Engineer Bridget Lally – Lead Controls Engineer Nick Matson – Project Manager & Controls Engineer
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Ultra-high precision positioning instrument Maneuver objects under high magnification, at the micro and nano scales Primary customer uses: Cell behavior for medical diagnostics
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Improve 12371 prototype and redesign where applicable Improve overall nanomanipulator function to meet competitive operational specifications Reduce price of nanomanipulator with respect to commercial devices Broaden participation in nanoscience
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Spec: 8x8x8 (cm) Theory: 10x10x10 (cm) Actual: 13x13x13 (cm) Fail ◦ 1% of relative customer needs CAD model smaller than actual cylinder Did not account for fittings
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Spec: 550 (grams) Theory: 570 (grams) Actual: 689 (grams) Fail ◦ 1% of relative customer needs Inaccurate CAD model Weight of water 8% improvement from phase 1 (750 grams)
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Spec: <$2,500 Theory: $900 Actual: $2,128 Pass ◦ 8% of relative customer needs
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Spec: $1,500 Theory: $1,400 Actual: $1,471 Pass ◦ 11% of relative customer needs $179 cost reduction from phase 1 Assuming $270 for labor costs
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Spec: 1 (cm) Theoretical: 1.1 (cm) Actual:1.1 (cm) Pass ◦ 5% of relative customer needs X: 1.2 cm Y: 1.1 cm Z: 1.1 cm
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Spec: 0.5 mm/sec Theory: 0.104 mm/sec Actual: 0.04 mm/sec Fail ◦ 6% of relative customer needs Stepper motor gear ratio Stepper motor max rpm
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Spec: 100 nm/step Theory: 66 nm/step Actual: X: 56 nm/step Y: 51 nm/step Z: 56 nm/step Pass ◦ 12% of relative customer needs
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Spec: <1 rev Theory: 0 rev Actual: X: 1.1 Y: 2.9 Z: 2.8 Fail ◦ 9% of relative customer needs 80% improvement phase 1 (14 rev)
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Spec: <0.02 um Theory: 0 um Actual: 0 um Pass ◦ Part of position repeatability ◦ 4% of relative customer needs Manipulator does not change position when left for hours in lab
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Spec: undefined Theory: undefined Actual: X: 2.0um Y: 3.8um Z: 6.2um Pass/ Fail ? ◦ Part of position repeatability ◦ 8% of relative customer needs
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System is easily assembled / disassembled ◦ Yes ◦ Pass 3% of relative customer needs ◦ See operators manual for instructions System is easy to use ◦ Yes ◦ Pass 7% of relative customer needs ◦ See users experience survey
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System is controlled by GUI ◦ Yes ◦ Pass 7% of relative customer needs System is controlled by Joystick ◦ Yes ◦ Pass 11% of relative customer needs System mounts standard pipette holder ◦ Yes ◦ Pass 3% of relative customer needs
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System can be operated safely through range of motion ◦ Yes ◦ Pass 3% of relative customer needs System can be controlled remotely ◦ Remote desktop only ◦ Fail 0% of relative customer needs
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83% of customer needs passed Major Failures: ◦ Backlash (9%) ◦ Speed of travel (6%) Significant improvements on backlash, position repeatability and cost for manufacturing Maximum travel speed is still functional and practical when working in field of vision under microscope
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Controls ◦ Stepper motor control board ◦ Implementation of limit switches ◦ Limited computer engineering experience ◦ Outdated serial communication
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Pump Assembly ◦ Reevaluate stepper motor gear ratio to get best resolution vs. speed ◦ Improper manufacturing on reused parts Manipulator Assembly ◦ Implement bearing sliders ◦ Cylinders ◦ Implement hard mount for correct orientation
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Hydraulics Assembly ◦ Cylinders ◦ Protection of hydraulic lines ◦ Hose length Manufacturing ◦ Uniform parts for all axes ◦ Multiple bolted fasteners can cause alignment issues
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Purchasing ◦ Use reliable suppliers ◦ Ample amount of spares when testing Refer to subject mater experts Scheduling Communication and organization
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Dr. Schrlau – Customer Bill Nowak - Guide Mr. Wellin -RIT ME Department Dr. Patru - RIT EE Department Sabine Loebner & Brad Olan - P12371 Ken Snyder – RIT EE Department Rick Tolleson– RIT CE Department Rob Kranynik & Jan Maneti - ME Machine Shop
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