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Design, fabrication, and manipulation of a multi-degree of freedom micro-manipulator for large-range, three-dimensional operation on atomic force microscope
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Title
Design, fabrication, and manipulation of a multi-degree of freedom micro-manipulator for large-range, three-dimensional operation on atomic force microscope
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Patel
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Parth
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1994-
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Parth Patel
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author
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Zou
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Qingze
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Qingze Zou
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Advisory Committee
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chair
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Mazzeo
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Aaaron Mazzeo
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Advisory Committee
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internal member
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Lee
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Howon
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Howon Lee
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Advisory Committee
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Rutgers University
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School of Graduate Studies
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theses
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2019
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2019-05
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2019
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English
Abstract
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AFM (Atomic Force Microscope) has become an enabling tool in a wide range of areas ranging from biology, material sciences to other nanosciences and nanoengineering areas. However, currently AFM operation has been limited to a relatively small sample area (below around 0.1~mm by 0.1~mm) and 2-D samples only. On the contrary, froniter and emerging applications in areas such as biology demands and require an AFM capable of imaging and/or measuring properties of samples over a much larger range (in mm size or even larger), and on 3-dimensional samples such as 3-D organoid cell culture.
This M.S. research work is focused on the creation of a multi-degree of freedom micro-manipulator for large-range, 3-dimensional operation of a sample on AFM. Particularly, the needs and constraints arising from integrating the AFM system to an inverted optical microscope for (optical-AFM) coordinated operation are accounted for and addressed in the design and fabrication of the manipulator. A robust stage with minimal noise and vibration needs to be designed to fulfill the goal of micro-manipulation with maximum possible accuracy. During this a '3-DOF RSR (Revolute-Spherical-Revolute) Parallel Delta manipulator' combined with '2-DOF RR (Revolute) Serial perpendicular axis manipulator', kinematic mechanisms are coupled together to achieve micro-manipulation. High accuracy with high dynamic characteristics of parallel manipulator provides precise positioning by translation motion and two revolute joints facilitates precise orientation by rotational motion. The decoupling of the translation motion from the rotational motion of the sample helps in making a system independent to other while allowing simultaneous operation. The use of small disk design for sample holder to rotate sample, minimizes the disturbances to the solution. Design, kinematic analysis, fabrication, motion simulation, and preliminary motion control in experiments for the independent and combined configuration are covered in this research work.
This M.S. research work is focused on the creation of a multi-degree of freedom micro-manipulator for large-range, 3-dimensional operation of a sample on AFM. Particularly, the needs and constraints arising from integrating the AFM system to an inverted optical microscope for (optical-AFM) coordinated operation are accounted for and addressed in the design and fabrication of the manipulator. A robust stage with minimal noise and vibration needs to be designed to fulfill the goal of micro-manipulation with maximum possible accuracy. During this a '3-DOF RSR (Revolute-Spherical-Revolute) Parallel Delta manipulator' combined with '2-DOF RR (Revolute) Serial perpendicular axis manipulator', kinematic mechanisms are coupled together to achieve micro-manipulation. High accuracy with high dynamic characteristics of parallel manipulator provides precise positioning by translation motion and two revolute joints facilitates precise orientation by rotational motion. The decoupling of the translation motion from the rotational motion of the sample helps in making a system independent to other while allowing simultaneous operation. The use of small disk design for sample holder to rotate sample, minimizes the disturbances to the solution. Design, kinematic analysis, fabrication, motion simulation, and preliminary motion control in experiments for the independent and combined configuration are covered in this research work.
Subject
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Topic
Mechanical and Aerospace Engineering
Subject
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Topic
Atomic force microscopy
Subject
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Topic
Microscopes -- Design and construction
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Rutgers University Electronic Theses and Dissertations
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ETD_9838
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1 online resource (xv, 105 pages) : illustrations
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M.S.
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Includes bibliographical references
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School of Graduate Studies Electronic Theses and Dissertations
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rucore10001600001
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doi:10.7282/t3-a7fj-wx98
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ETD graduate
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The author owns the copyright to this work.
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Patel
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Parth
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2019-04-12 13:05:47
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PARTH PATEL
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Rutgers University. School of Graduate Studies
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I hereby grant to the Rutgers University Libraries and to my school the non-exclusive right to archive, reproduce and distribute my thesis or dissertation, in whole or in part, and/or my abstract, in whole or in part, in and from an electronic format, subject to the release date subsequently stipulated in this submittal form and approved by my school. I represent and stipulate that the thesis or dissertation and its abstract are my original work, that they do not infringe or violate any rights of others, and that I make these grants as the sole owner of the rights to my thesis or dissertation and its abstract. I represent that I have obtained written permissions, when necessary, from the owner(s) of each third party copyrighted matter to be included in my thesis or dissertation and will supply copies of such upon request by my school. I acknowledge that RU ETD and my school will not distribute my thesis or dissertation or its abstract if, in their reasonable judgment, they believe all such rights have not been secured. I acknowledge that I retain ownership rights to the copyright of my work. I also retain the right to use all or part of this thesis or dissertation in future works, such as articles or books.
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Copyright protected
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Open
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Permission or license
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