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Hydraulic Nanomanipulator

Hydraulic Nanomanipulator. P13375. Table of Contents & Agenda. Introductions. Customer Dr. Schrlau Team David Anderson Ryan Dunn Bryon Elston Elizabeth Fischer Robert Menna Guides Bill Nowak Charlie Tabb. Team Roles. Project Objectives & Goals. Improve 13371 design

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Hydraulic Nanomanipulator

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  1. Hydraulic Nanomanipulator P13375

  2. Table of Contents & Agenda

  3. Introductions • Customer Dr. Schrlau • Team David Anderson Ryan Dunn Bryon Elston Elizabeth Fischer Robert Menna • Guides Bill Nowak Charlie Tabb

  4. Team Roles

  5. Project Objectives & Goals • Improve 13371 design • Reduce Backlash • Increase Speed • Add Remote Access • Increase access to nanotechnology

  6. Existing System (P13371)

  7. Existing System (P13371)

  8. Existing System (P13371) • Drive Subsystem

  9. Drive Subsystem Continued

  10. Existing System (P13371) • Manipulator Subsystem

  11. House of Quality Pareto Analysis • Top Specifications • Ease of Use • Calibration • Video Latency • Manipulator Backlash • Control Latency • Limit of Travel in Each Direction • Resolution • Input Device Control (Remote and Local) • Speed of Travel • If Top 9 of 17 Specs Met • 75% of customer needs satisfied

  12. System Architecture

  13. Mechanical System

  14. Options Considered • Double acting cylinders • $200 a piece from Parker • Precision pumps • Quoted at $2000 for one pump alone from Burt and other suppliers • Smaller low friction cylinders • Seems promising • Micro-stepping • Reduces speed proportionally to increase in resolution • Stiffer or softer springs • Tested and produced greater backlash

  15. Speed Improvement Pugh Matrix

  16. Manipulator Cylinder Pugh Matrix

  17. System Proposition • Components • MQP10-10S Cylinders at Manipulator • New carriage • System Accomplishments • Double speed of P13371 (0.04 mm/s to 0.105 mm/s) • Maintain resolution of 104.67 nm • Improve robustness of system with new low friction precision pistons • This will improve backlash, along with better filling methods

  18. SMC MQP10-10S Pistons

  19. Pump Subsystem

  20. Stepper Motors

  21. Stepper Motors • Gear ratio: 13.76 planetary Gear • Max holding torque: 7.55 N-m • Max sustainable torque: 2.94 N-m • Step angle: 0.067 degrees • Max Speed: 22.88 RPM • # Leads: 4 – Bipolar stepper • Electrical: 12V supply 1.6A/phase

  22. Stepper Motors

  23. Assembly

  24. Resolution Feasibility Analysis • Lead=0.0125 in/rev = 0.3175mm/rev • Gear Ratio = 13.76 • Step Angle Before Gears = 1.8° • With hydraulic advantage of 1.10 • 104.67 nm/step • This is essentially equivalent to the spec of 100 nm/step • Spec Met • Previous team was at 54 nm

  25. Range of Motion Feasibility Analysis • Change to Manipulator Cylinders only • New Cylinders have a stroke of 10mm • Spec. is 0.25cm<x<1cm for each axis • 10mm=1cm • If the equilibrium position is set to half stroke the range of motion in each direction is 0.5 cm • Spec Met (FS=2) • Previous team was at 1.1 cm

  26. Speed Feasibility Analysis • Motor Speed= 22rpm • Lead of Lead Screw= 0.3175 mm/rev • Speed Spec= > 0.5 mm/s • 0.1056 mm/s < 0.5 mm/s • Spec Not Met • Previous team had a measured speed of 0.04 mm/s listed in technical report • Proposed solution provides twice the speed of previous

  27. Spring Selection

  28. Friction Anlaysis • Axis Units Weight • z (g) 104.68 • x (g) 155.12 • y (g) 154.91 • x+y (g) 310.3 • x+y+z (g) 414.71 • x carriage assembly (g) 28.66 • Pipette Mount 31.9 g • overall carriage friction coefficient 0.547 (from P13371 test results) • f(y-axis) = 0.547*(0.0319+0.15512)*9.81 m/s^2 • f(y-axis) = 1.004 N • f(x-axis) = 0.547*(0.0319 + 0.02866)*9.81 • f(x-axis) = 0.325 N • Note: Only z-axis friction due to sliding of rods in thru holes – if system is properly balanced torque will be a minimum and this will be a non-issue – can alleviate using springs around piston or alignment rods

  29. Pressure Feasibility The stepper motor has been tested up to 70N Torque Feasibility

  30. Manipulator Subsystem

  31. Manipulator Assembly

  32. Manipulator Continued

  33. Manipulator Continued

  34. Manipulator Continued

  35. Feasibility Analysis • Manipulator was modeled in Solidworks • Weight =447.2 g (Spec Met of 550 g) • Previous team was at 689 g • Size 11.86 x 11.93 x 10.01 cm (Spec Not Met of 8 X 8 X 8 cm) • Previous Team was at 13 x 13 x 13

  36. Full Mechanical System Assembly

  37. Electronic System

  38. Controls Subsystem

  39. Control System Overview

  40. Software Concept Selection • Decision made to implement software via D3 – MATLAB with Java networking

  41. MATLAB Local Model • Accepts command and control signals from client (i.e. to direct manipulator) • Interfaces with camera hardware for live video imaging access • Image processing for automated calibration (needle tip located, centered) • Manipulator resolution mapped to speed setting, configurable via software • P13371 provides working Java serial communication to microcontroller • Implementing USB interface

  42. Remote Access Support MATLAB local model wrapping underlying Java networking support • Command and Control Channel – • Accepts input from remote client to direct local model • Manipulator movement via client input devices • Speed control • Command protocol implemented via Transmission Control Protocol (TCP) • Connection based, ordered, error-checked command transmission • Media Streaming Channel – • Captures image/video media from manipulator microscope camera • Media is streamed to connected client in real time • Client-configurable image quality (resolution, color depth, compression) • Media data transmitted via User Datagram Protocol (UDP) • Connectionless, low overhead, reduced latency bulk data transmission

  43. Remote Access Support • Proof of concept MATLAB / Java software completed • Feasibility and reliability of software concept selection proven • Portable with simple, single executable and MATLAB runtime library • Research and development paves the way to refine final solution Client (Remote Model) Host (Local Model)

  44. Remote Access Support Latency Considerations The one-way trip time between host and client. • Video/image media streaming from host to client (one way) • Implemented via UDP for rapid, low overhead, bulk data transmission • Sacrifices ordering, error checking, protocol-level guarantee for real-time streaming • It is okay to lose image frames rather than delaying entire application/experience (stream may be smoothed) • Command sending from client to host (round trip) • Implemented via TCP with request/reply loop: • Client sends command “Move to coordinate” • Host receives command, provides error-checking • Host sends acknowledgement to client informing command has been accepted • Client receives acknowledgement • Optimal command latency: <= 200 ms

  45. Micro Controller to Control Board Connection

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