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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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Presentation Transcript
introductions
Introductions
  • Customer

Dr. Schrlau

  • Team

David Anderson

Ryan Dunn

Bryon Elston

Elizabeth Fischer

Robert Menna

  • Guides

Bill Nowak

Charlie Tabb

project objectives goals
Project Objectives & Goals
  • Improve 13371 design
    • Reduce Backlash
    • Increase Speed
    • Add Remote Access
  • Increase access to nanotechnology
existing system p133713
Existing System (P13371)
  • Manipulator Subsystem
house of quality pareto analysis
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
options considered
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
system proposition
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
stepper motors1
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
resolution feasibility analysis
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
range of motion feasibility analysis
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
speed feasibility analysis
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
friction anlaysis
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
pressure feasibility
Pressure Feasibility

The stepper motor has been tested up to 70N

Torque Feasibility

feasibility analysis
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
software concept selection
Software Concept Selection
  • Decision made to implement software via D3 – MATLAB with Java networking
matlab local model
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
remote access support
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
remote access support1
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)

remote access support2
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
3 axis control board1
3-Axis Control Board
  • Toshiba TB6560AHQ
    • 1 – 1/16 micro stepping setting
    • 12 – 36 VDC power
    • Adjustable 0.5 – 2.5 A driver current / phase
    • PWM actuation output
  • 3-axis of motion
  • Limit switch functionality
  • Parallel port connection
  • Overload, over-current, over-temp protection
full system test plan
Full System Test Plan
  • Cost
    • Keep track of all expenses
  • Weight
    • Weight of Manipulator (predicted 416 grams)
  • Static Coefficient of Friction
    • Force required to move each axis measured with a spring scale
  • Size
    • Measure the assembled manipulator
  • Range of Motion
    • Measure the travel distance of the piston
test plans cont
Test Plans Cont.
  • Static Coefficient of Friction
    • Force required to move each axis measured with a spring scale
  • Range of Motion
    • Measure the travel distance of the piston
  • Sampling Rate
    • Test client and host at RIT and other system locations
  • Ease of Assembly
    • Give new users a system manual and survey their experience
  • Ease of use
    • Give new users a system manual and survey their experience
test plans cont1
Test Plans Cont.
  • Resolution
    • Measure distance traveled after 20 revolutions of the stepper motor and compare to theoretical
  • Speed of travel
    • Measure the time taken to move the manipulator to its full range of motion
    • Time system run at max speed for 10 revs and see distance traveled
  • System backlash
    • Number of revolutions needed to change direction
  • Safe in full range of motion
    • Make sure nothing is damaged while testing limits of travel
project cost
Project Cost
  • Cost of suggested improvements (Development Cost): ~$720
    • New Piston Cylinders
    • New Manipulator Carriage
    • Springs
    • Preious team was at $2,128
  • Estimated Manufacturing Cost: ~$1,728
    • Previous team was at $1,471
project planning
Project Planning
  • MSD I
    • Week 11
      • Get MSD II project green light
      • Review BOM & Prepare Order Forms for long lead items to place over the summer
  • MSD II
    • Week 1
      • Obtain All parts
      • Re-familiarize ourselves with the project
      • Begin Remote access programming
    • Week 3
      • Mechanical Manufacturing is complete
      • Assembly has been begun
      • Networking Programing first draft is complete
project planning1
Project Planning
  • MSD II (cont.)
    • Week 5
      • System Prototype assembled, and met with guide and customer
    • Week 8
      • System completely assembled and ready to begin testing
    • Week 12
      • Testing is Completed
    • Week 14
      • Final Presentation
      • User manual is complete
      • Tech. paper is complete
      • Poster is complete
acknowledgments
Acknowledgments
  • Mr. Wellin -RIT ME Department
  • Dr. Schrlau –RIT ME Department
  • Nick Hensel – RIT ME Department
  • Bridget Lally – RIT EE Department
  • Sakif Noor – RIT ME Department
  • Team P13371
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