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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. What Is a Nanomanipulator ?. Ultra-high precision positioning instrument

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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. 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

  5. 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

  6. Existing System (P12371)

  7. Existing System (P12371) Controls Interface Subsystem

  8. Existing System (P12371) Controls Subsystem

  9. Existing System (P12371) Drive Subsystem

  10. Existing System (P12371) Manipulator Subsystem

  11. 1st House of Quality Relationships: 9 = Strong 3 = Moderate 1 = Weak 0 = No Relationship

  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. Functional Decomposition of Hydraulic Nanomanipulator

  14. Existing System Evaluation (P12371) • Specs Unsatisfied • Backlash • Delay and rotation problems • Size • Weight • Specs Met • Resolution • Cost

  15. Hydraulic Driver Concept Development Servo Motor Nano-precision actuator Stepper Motor Commercial Syringe

  16. Hydraulic Driver Selection Datum

  17. Stepper Motor • Current Driver • Already have working motors to test • Not the root cause of system performance issues • Easy to control • Evaluate existing motors and compare against other stepper motor options

  18. Hydraulic Actuation Concept Development Piston Actuator • Fluid displaced through • the movement of a sealed ram

  19. Hydraulic Actuation Concept Development Diaphragm Actuator • Pressure is transferred through the depression • of an immobile,flexible membrane seal

  20. Hydraulic Actuation Selection Datum

  21. Future Hydraulic Actuation Plan • Both options are viable and will be evaluated in detailed design phase Diaphragm Seals Piston Seals

  22. Manipulator Movement Concept Development • Ball Bearing Carriages • Sleeve Bearing Carriage • Low Profile Bearing Carriage • Friction Slider (current)

  23. Manipulator Movement Selection Datum

  24. Sleeve Sliders • Pros • Reduced Friction • Reduced Vibration • Reduced Backlash • Cons • Cost

  25. System Architecture

  26. Retain Properties of Current System (P12371) • Resolution • 11 nm theoretical • 53 nm experimental • Cost • $1200 • Design Concept

  27. Feasibility Analysis of Theoretical Resolution • Lead = 0.0125 in/rev = 0.3175 mm/rev • Microsteps/rev = 12,800 • 0.02185°/microstep

  28. Issues to Improve in Current System (P12371) • Hydraulics • Backlash of 14 revolutions to change direction • Manipulator Mounting System • High friction causing backlash • Controls • Delay and rotation problems • Vibration in motor • Position un-repeatable • Machining Issues • Misalignment

  29. Hydraulic System Issues • Air in lines • Fittings • Tubes

  30. Air in Hydraulic Lines • Bulk modulus of water = 2,150 MPa • Bulk modulus of air = 0.142 Mpa • Assume: • Resulting Backlash • 15.75 Revolutions

  31. Benefit of Smaller Pipe Diameter

  32. Hydraulics Future Plan • Decrease tube diameter • Incorporate line bleeding valve • Replace barbed fittings Barbed Fitting Double Compression Fitting

  33. Manipulator Mounting System Issues • Coefficient of Frictional of Slider too high • Misalignments

  34. Feasibility Analysis of Sleeve Sliders • Total weight on bottom slider = 760 gms • Coefficient of Friction • Friction Slider = 1 • Sleeve Slider = 0.2 • Friction Slider = 8.2N • Sleeve Slider = 2.2N

  35. Factor of Safety Improvement From Sleeve Sliders

  36. Stepper Motor Issues • Controls • Un-fluid movement • Vibrations

  37. Stepper Motor Control Future Plan • Evaluate Current System • Programming bugs • Different driver chip • Commercial control boards

  38. Controls • Possible Design Changes • Different driver IC Chips • Improve board layout • Existing system • Functional • Low cost

  39. Controls Future Plan • Evaluate existing code • Test existing microcontroller • Decide how to tackle live feed from camera

  40. Preliminary Cost • Previous Manufacturing cost: $1,195.75 • Cost of suggested improvements: ~$300.00 • New sliders • Smaller diameter, thick walled tubing • New piston sleeves • Double compression fittings • Cost of items being removed: ~$110.00 • Estimated Manufacturing Cost: $1,400

  41. Risk Management

  42. Gantt Chart

  43. Gantt Chart

  44. 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

  45. Questions?

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