A nano-stepping robotic instrumentation platform
Thesis: Ph. D., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2013.
| Main Author: | |
|---|---|
| Other Authors: | |
| Format: | Thesis |
| Language: | eng |
| Published: |
Massachusetts Institute of Technology
2014
|
| Subjects: | |
| Online Access: | http://hdl.handle.net/1721.1/85528 |
| _version_ | 1826195277928726528 |
|---|---|
| author | Wahab, Adam Joseph |
| author2 | Ian W. Hunter. |
| author_facet | Ian W. Hunter. Wahab, Adam Joseph |
| author_sort | Wahab, Adam Joseph |
| collection | MIT |
| description | Thesis: Ph. D., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2013. |
| first_indexed | 2024-09-23T10:10:11Z |
| format | Thesis |
| id | mit-1721.1/85528 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T10:10:11Z |
| publishDate | 2014 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/855282019-04-12T21:05:04Z A nano-stepping robotic instrumentation platform Wahab, Adam Joseph Ian W. Hunter. Massachusetts Institute of Technology. Department of Mechanical Engineering. Massachusetts Institute of Technology. Department of Mechanical Engineering. Mechanical Engineering. Thesis: Ph. D., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2013. Cataloged from PDF version of thesis. Includes bibliographical references (pages 115-118). 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. by Adam Joseph Wahab. Ph. D. 2014-03-06T15:48:32Z 2014-03-06T15:48:32Z 2013 2013 Thesis http://hdl.handle.net/1721.1/85528 871147220 eng 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. http://dspace.mit.edu/handle/1721.1/7582 118, [1] pages application/pdf Massachusetts Institute of Technology |
| spellingShingle | Mechanical Engineering. Wahab, Adam Joseph A nano-stepping robotic instrumentation platform |
| title | A nano-stepping robotic instrumentation platform |
| title_full | A nano-stepping robotic instrumentation platform |
| title_fullStr | A nano-stepping robotic instrumentation platform |
| title_full_unstemmed | A nano-stepping robotic instrumentation platform |
| title_short | A nano-stepping robotic instrumentation platform |
| title_sort | nano stepping robotic instrumentation platform |
| topic | Mechanical Engineering. |
| url | http://hdl.handle.net/1721.1/85528 |
| work_keys_str_mv | AT wahabadamjoseph ananosteppingroboticinstrumentationplatform AT wahabadamjoseph nanosteppingroboticinstrumentationplatform |