SQUIGGLE Nano-Manipulator System

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

2. Project Team Cory Behm (ME), Jon Rosebrook (ME), and Sakif Noor (ME)

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 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 http://www.newscaletech.com/squiggle_overview.html

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

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 http://www.newscaletech.com/squiggle_overview.html

11. House of Quality Results

12. System Selection

13. System Flow Chart Microscope Camera X, Y, Z-Axis Sensors X-Axis SQUIGGLE Motor Human Microcontroller (2X) Y-Axis SQUIGGLE Motor Joystick Computer Pipette Z-Axis SQUIGGLE Motor

14. System Design CAD Spring System Design (CAD) No spring to push down since weight is sufficient Spring pushing to the left Pipette in Holder

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  8.44 µm 3.97 µm AFTER 1 step↑ BEFORE 6.45 µm BEFORE AFTER 1 step ↓ 6.2 µm

20. Pipette Holder

21. Specification Comparison

22. Cost Analysis Total = $379.10 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 sensorsCalibration 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