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Hydraulic Nanomanipulator

Hydraulic Nanomanipulator. P13371. Table of Contents & Agenda. Introductions. Customer Dr. Schrlau Team Jacob Bertani Bridget Lally Avash Joshi Nick Matson Keith Slusser Guide Bill Nowak. Team Roles. Jacob Bertani – Lead Hydraulic Subsystem Engineer

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Hydraulic Nanomanipulator

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  1. Hydraulic Nanomanipulator P13371

  2. Table of Contents & Agenda

  3. Introductions • Customer Dr. Schrlau • Team Jacob Bertani Bridget Lally Avash Joshi Nick Matson Keith Slusser • Guide Bill Nowak

  4. Team Roles • 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

  5. What Is a Nanomanipulator? • Ultra-high precision positioning instrument • Maneuver objects under high magnification, at the micro and nano scales • Primary customer uses: • Cell behavior for medical diagnostics

  6. Project Objectives & Goals • 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

  7. Existing System (P12371)

  8. Existing System (P12371) Controls Interface Subsystem

  9. Existing System (P12371) Controls Subsystem

  10. Existing System (P12371) Drive Subsystem

  11. Existing System (P12371) Manipulator Subsystem

  12. House of Quality Pareto Analysis • Top Specifications • Movement resolution • Position Repeatability • Manufacturing Cost • Joystick Control • Backlash reduction • If Top 8 of 16 Specs Met • 76% of customer needs satisfied

  13. System Architecture

  14. System Assembly

  15. Stepper Motors

  16. Stepper Motors • Gear ratio: 26 103/121 : 1 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

  17. Stepper Motors

  18. Pump Subsystem

  19. Assembly

  20. Base Plate, Motor Bracket and Lead Screw Mount

  21. Lead Screw and Lead Screw Nut

  22. Track and Carriage

  23. Resolution Feasibility Analysis • Lead=0.0125 in/rev = 0.3175mm/rev • Gear Ratio = 26 103/121:1 • Step Angle Before Gears = 1.8° • Step Angle After Gears = 0.07° • With hydraulic advantage of 1.78 • 33nm/step • If we quarter step, 8nm/quarter step

  24. Range of Motion Feasibility Analysis • 40mm range • translates to ~20mm range on manipulator • 20mm > 10 mm 40mm

  25. Speed Feasibility Analysis • Motor rated at 22 RPM • Lead = 0.3175 mm/rev • 0.065 mm/s < 0.5 mm/s • Does not meet specification • 0.065 mm/s is comparable to commercial manipulators

  26. Motor Torque Feasibility • Motor is rated for 2.96Nm • Loss due to micro-stepping • With 4 micro-steps per step, the max rated torque becomes .571Nm when micro stepping

  27. Motor Torque Feasibility • Motor will also need to overcome friction • Loss due to lead screw nut drag; property of lead screw • Loss to overcome system friction • With calculated Friction Force of 20.96NM, lead of .0003175m, and lead screw thread efficiency of 13%

  28. Motor Torque Feasibility • Motor will also have to overcome accelerating the lead screw. • Assuming acceleration is only for .1second:

  29. Motor Torque Feasibility • Torque required from the motor: • Motor Factor of Safety

  30. Test Plan • Resolution • 20 revolutions = 6.35mm • Limits of travel • Operate full range of motion and measure distance • Speed of travel • Measure the time taken to complete 10 revolutions • System backlash • Number of steps taken to change direction • Safe in full range of motion • Make sure nothing is damaged

  31. Hydraulic Subsystem

  32. Hydraulic Line Assembly

  33. Hydraulic Line Assembly

  34. Hydraulic Mount

  35. Hydraulic Mount

  36. Feasibility Analysis • Max rated pressure = 430 psi = 2.96MPa • Radial Expansion • Thermal Expansion

  37. Test Plan • Limits of travel • Operate full range of motion and measure distance • System Drift • Compress and hold at a set displacement and measure drift after elapsed time

  38. Manipulator Subsystem

  39. Manipulator Assembly

  40. Carriage, Track, and Cylinder Receiver

  41. Piston Cylinder Mound and Piston

  42. X-Axis

  43. YZ-Bracket

  44. Y-Axis

  45. XY-Axis

  46. Z-Axis

  47. Manipulator Assembly

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