A nano-stepping robotic instrumentation platform
Name
871147220-MIT.pdf
Description
Full printable version
Size
16.68 MB
Format
Adobe PDF
Checksum (MD5)
8ca270bb6beb0c6b284fba6ec435f4f0
Author(s)
Wahab, Adam Joseph
Advisor(s)
Ian W. Hunter.
Date Issued
2013
Publisher
Massachusetts Institute of Technology
Abstract
The development of an Autonomous Nano-stepping Tool (ANT) system is presented. Each ANT is a small, tripodal, robotic instrument capable of untethered precision motion within a quasi-three-dimensional workspace of arbitrary size. The project aimed to address limitations of conventional benchtop micro/nanoscale measurement and manipulation systems by offering a low-cost, scalable alternative with comparable performance and extended functionality and flexibility. The design, fabrication, and evaluation the various electrical, mechanical, and software subsystems are discussed. Device prototypes are introduced along with a platform-agnostic interface for remote monitoring and control. The device step size and its frequency dependence are examined. A novel, high-resolution capacitive probe concept is detailed and characterized as an example of an inexpensive, low-power, sensor technology with which an ANT may be equipped to perform scanning probe microscopy. Several positioning schemes are discussed, including a distributed vision-based approach which utilized a custom cross-correlation processor.
Description
Thesis: Ph. D., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2013.
Cataloged from PDF version of thesis.
Includes bibliographical references (pages 115-118).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.
Persistent DSpace Link
