Design, Fabrication, and Characterization of a Rotary Variable-Capacitance Micromotor Supported on Microball Bearings

The design, fabrication, and characterization of a rotary micromotor supported on microball bearings are reported in this dissertation. This is the first demonstration of a rotary micromachine with a robust mechanical support provided by microball-bearing technology. One key challenge in the realization of a reliable micromachine, which is successfully addressed in this work, is the development of a bearing that would result in high stability, low friction, and high resistance to wear. A six-phase, rotary, bottom-drive, variable-capacitance micromotor is designed and simulated using the finite element method. The geometry of the micromotor is optimized based on the simulation results. The development of the rotary machine is based on studies of fabrication and testing of linear micromotors. The stator and rotor are fabricated separately on silicon substrates and assembled with the stainless steel microballs. Three layers of low-k benzocyclobutene (BCB) polymer, two layers of gold, and a silicon microball housing are fabricated on the stator. The BCB dielectric film, compared to conventional silicon dioxide insulating films, reduces the parasitic capacitance between electrodes and the stator substrate. The microball housing and salient structures (poles) are etched in the rotor and are coated with a silicon carbide film to reduce friction. A characterization methodology is developed to measure and extract the angular displacement, velocity, acceleration, torque, mechanical power, coefficient of friction, and frictional force through non-contact techniques. A top angular velocity of 517 rpm corresponding to the linear tip velocity of 324 mm/s is measured. This is 44 times higher than the velocity achieved for linear micromotors supported on microball bearings. Measurement of the transient response of the rotor indicated that the torque is 5.620.5 micro N-m which is comparable to finite element simulation results predicting 6.75 micro N-m. Such a robust rotary micromotor can be used in developing micropumps which are highly demanded microsystems for fuel delivery, drug delivery, cooling, and vacuum applications. Micromotors can also be employed in micro scale surgery, assembly, propulsion, and actuation

Benzocyclobutene-based Electric Micromachines Supported on Microball Bearings: Design, Fabrication, and Characterization

This dissertation summarizes the research activities that led to the development of the first microball-bearing-supported linear electrostatic micromotor with benzocyclobutene (BCB) low-k polymer insulating layers. The primary application of this device is long-range, high-speed linear micropositioning. The future generations of this device include rotary electrostatic micromotors and microgenerators. The development of the first generation of microball-bearing-supported micromachines, including device theory, design, and modeling, material characterization, process development, device fabrication, and device test and characterization is presented. The first generation of these devices is based on a 6-phase, bottom-drive, linear, variable-capacitance micromotor (B-LVCM). The design of the electrical and mechanical components of the micromotor, lumped-circuit modeling of the device and electromechanical characteristics, including variable capacitance, force, power, and speed are presented. Electrical characterization of BCB polymers, characterization of BCB chemical mechanical planarization (CMP), development of embedded BCB in silicon (EBiS) process, and integration of device components using microfabrication techniques are also presented. The micromotor consists of a silicon stator, a silicon slider, and four stainless-steel microballs. The aligning force profile of the micromotor was extracted from simulated and measured capacitances of all phases. An average total aligning force of 0.27 mN with a maximum of 0.41 mN, assuming a 100 V peak-to-peak square-wave voltage, was measured. The operation of the micromotor was verified by applying square-wave voltages and characterizing the slider motion. An average slider speed of 7.32 mm/s when excited by a 40 Hz, 120 V square-wave voltage was reached without losing the synchronization. This research has a pivotal impact in the field of power microelectromechanical systems (MEMS). It establishes the foundation for the development of more reliable, efficient electrostatic micromachines with variety of applications such as micropropulsion, high-speed micropumping, microfluid delivery, and microsystem power generation

Frictionless electrostatic rotary stepper micromotor for microrobotic applications

We present the modeling and experimental characterization of a monolithic 3-phase rotary stepper micromotor which employs a flexure suspension to guide the rotor. The monolithic structure avoids any frictional contact during operation, providing a precise, repeatable and reliable bidirectional stepping motion without feedback control. We have performed finite element analysis (FEA) simulations of the mechanical static and dynamic properties. These studies are consistent with the extensive experimental characterization performed in the quasi-static, transient, and dynamic regimes. Dynamic nonlinearities have been observed and compared to a complete mathematical model including the electrostatic actuation and the mechanical properties of the system. The analytic model is consistent with the simulations and the experiments. The monolithic 3-phase rotary stepper micromotor has been modified to increase its torque and we have included a differential capacitive angular sensor. The implementation of this micromotor in a microgripper has also been studied and designed. These designs have been fabricated in a single-crystal silicon, using a simple single-mask process, based on standard Silicon-On-Insulator technology. The fabrication was performed in the cleanroom of the EPFL Center of MicroNanoTechnology (CMi) and has conducted to the preliminary experimental characterization of prototypes which validated the single-mask process

Innovative design, assembling and actuation of arrays of nanoelectromechanical system (NEMS) devices using nanoscale building blocks

Rotary nanomotors, a type of nanoelectromechanical system (NEMS) device that converts electric energy into mechanical motions, are critical for advancing NEMS technology in various fields but have been difficult to obtain using traditional techniques. As a consequence, it is highly desirable to investigate new mechanisms to develop large arrays of rotary NEMS devices with high efficiency, small size, and reliable performance at a low cost. In this dissertation, we report innovative designs and mechanisms for assembling and actuating arrays of rotary NEMS devices based on the electric tweezers and unique magnetic interactions among components. NEMS oscillators and motors were assembled from nanoscale building blocks including nanowires working as rotors, patterned nanomagnets as bearings, and quadrupole electrodes as stators. Multiple devices could be assembled in an ordered array and rotated either between two designated angles reciprocally or the full cycles continuously with controlled angle, speed (over 18,000 rpm) and chirality. Their fundamental electric, magnetic, and mechanical interactions were investigated, which provided an understanding of nanoscale dynamics critical to designing and actuating various metallic NEMS devices. We could reduce the size of the device with all its characteristic dimensions below 1 micron and continuously rotate a nanomotor for up to 15 hours, which is equivalent to more than 240,000 cycles in total. As an application, NEMS devices were used for controlled biochemical release and demonstrated the releasing rate of biochemical from the devices could be precisely tuned by mechanical rotation. Various magnetic configurations were purposely designed and successfully implemented, which resulted in distinct rotation behaviors including repeatable wobbling and self-rolling in addition to in-plane rotation. With the understandings of these rotation characteristics, high-performance micromotors have been rationally designed and successfully achieved, where the micromotors rotate at uniform speeds and position at desired angles, resembling step motors. Bioinspired micromotors comprised of three-dimensional porous diatom frustule rotors and patterned micromagnets were assembled and rotated in a microfluidic channel. Simulation results showed that they could stir and agitate liquid in a microchannel more efficiently than simple one-dimensional nanoentities and would be promising for microfluidic actuators. The innovations reported here, including concept, design, fabrication, actuation mechanisms, and applications, are expected to inspire various research areas including NEMS, nanorobotics, biomedical applications, microfluidics and lab-on-a-chip architectures.Mechanical Engineerin

Tribology of Microball Bearing MEMS

This dissertation explores the fundamental tribology of microfabricated rolling bearings for future micro-machines. It is hypothesized that adhesion, rather than elastic hysteresis, dominates the rolling friction and wear for these systems, a feature that is unique to the micro-scale. To test this hypothesis, specific studies in contact area and surface energy have been performed. Silicon microturbines supported on thrust bearings packed with 285 µm and 500 µm diameter stainless steel balls have undergone spin-down friction testing over a load and speed range of 10-100mN and 500-10,000 rpm, respectively. A positive correlation between calculated contact area and measured friction torque was observed, supporting the adhesion-dominated hysteresis hypothesis. Vapor phase lubrication has been integrated within the microturbine testing scheme in a controlled and characterized manner. Vapor-phase molecules allowed for specifically addressing adhesive energy without changing other system properties. A 61% reduction of friction torque was observed with the utilization of 18% relative humidity water vapor lubrication. Additionally, the relationship between friction torque and normal load was shown to follow an adhesion-based trend, highlighting the effect of adhesion and further confirming the adhesion-dominant hypothesis. The wear mechanisms have been studied for a microfabricated ball bearing platform that includes silicon and thin-film coated silicon raceway/steel ball materials systems. Adhesion of ball material, found to be the primary wear mechanism, is universally present in all tested materials systems. Volumetric adhesive wear rates are observed between 4x10^-4 µm^3/mN*rev and 4x10^-5 µm3/mN*rev were determined by surface mapping techniques and suggest a self-limiting process. This work also demonstrates the utilization of an Off-The-Shelf (OTS) MEMS accelerometer to confirm a hypothesized ball bearing instability regime which encouraged the design of new bearing geometries, as well as to perform in situ diagnostics of a high-performance rotary MEMS device. Finally, the development of a 3D fabrication technique with the potential of significantly improving the performance of micro-scale rotary structures is described. The process was used to create uniform, smooth, curved surfaces. Micro-scale ball bearings are then able to be utilized in high-speed regimes where load can be accommodated both axially and radially, allowing for new, high-speed applications. A comprehensive exploration of the fundamental tribology of microball bearing MEMS has been performed, including specific experiments on friction, wear, lubrication, dynamics, and geometrical optimization. Future devices utilizing microball bearings will be engineered and optimized based on the results of this dissertation

Optical MEMS Switches: Theory, Design, and Fabrication of a New Architecture

The scalability and cost of microelectromechanical systems (MEMS) optical switches are now the important factors driving the development of MEMS optical switches technology. The employment of MEMS in the design and fabrication of optical switches through the use of micromachining fabricated micromirrors expands the capability and integrity of optical backbone networks. The focus of this dissertation is on the design, fabrication, and implementation of a new type of MEMS optical switch that combines the advantages of both 2-D and 3-D MEMS switch architectures. This research presents a new digital MEMS switch architecture for 1×N and N×N optical switches. The architecture is based on a new microassembled smart 3-D rotating inclined micromirror (3DRIM). The 3DRIM is the key device in the new switch architectures. The 3DRIM was constructed through a microassembly process using a passive microgripper, key, and inter-lock (PMKIL) assembly system. An electrostatic micromotor was chosen as the actuator for the 3DRIM since it offers continuous rotation as well as small, precise step motions with excellent repeatability that can achieve repeatable alignment with minimum optical insertion loss between the input and output ports of the switch. In the first 3DRIM prototype, a 200×280 microns micromirror was assembled on the top of the electrostatic micromotor and was supported through two vertical support posts. The assembly technique was then modified so that the second prototype can support micromirrors with dimensions up to 400×400 microns. Both prototypes of the 3DRIM are rigid and stable during operation. Also, rotor pole shaping (RPS) design technique was introduced to optimally reshape the physical dimensions of the rotor pole in order to maximize the generated motive torque of the micromotor and minimize the required driving voltage signal. The targeted performance of the 3DRIM was achieved after several PolyMUMPs fabrication runs. The new switch architecture is neither 2-D nor 3-D. Since it is composed of two layers, it can be considered 2.5-D. The new switch overcomes many of the limitations of current traditional 2-D MEMS switches, such as limited scalability and large variations in the insertion loss across output ports. The 1×N MEMS switch fabric has the advantage of being digitally operated. It uses only one 3DRIM to switch the light signal from the input port to any output port. The symmetry employed in the switch design gives it the ability to incorporate a large number of output ports with uniform insertion losses over all output channels, which is not possible with any available 2-D or 3-D MEMS switch architectures. The second switch that employs the 3DRIM is an N×N optical cross-connect (OXC) switch. The design of an N×N OXC uses only 2N of the 3DRIM, which is significantly smaller than the N×N switching micromirrors used in 2-D MEMS architecture. The new N×N architecture is useful for a medium-sized OXC and is simpler than 3-D architecture. A natural extension of the 3DRIM will be to extend its application into more complex optical signal processing, i.e., wavelength-selective switch. A grating structures have been selected to explore the selectivity of the switch. For this reason, we proposed that the surface of the micromirror being replaced by a suitable gratings instead of the flat reflective surface. Thus, this research has developed a rigorous formulation of the electromagnetic scattered near-field from a general-shaped finite gratings in a perfect conducting plane. The formulation utilizes a Fourier-transform representation of the scattered field for the rapid convergence in the upper half-space and the staircase approximation to represent the field in the general-shaped groove. This method provides a solution for the scattered near-field from the groove and hence is considered an essential design tool for near-field manipulation in optical devices. Furthermore, it is applicable for multiple grooves with different profiles and different spacings. Each groove can be filled with an arbitrary material and can take any cross-sectional profile, yet the solution is rigorous because of the rigorous formulations of the fields in the upper-half space and the groove reigns. The efficient formulation of the coefficient matrix results in a banded-matrix form for an efficient and time-saving solution

Wireless Tagging and Actuation with Shaped Magnetoelastic Transducers.

The promise and the challenges of patterned, micro-scale magnetoelastic transducers and their integration with silicon is the focus of this thesis. As demonstrations, wireless magnetoelastic chip-scale resonant rotary motors and miniaturized magnetoelastic tags are investigated. The motors consist of a magnetoelastically-actuated stator, a silicon rotor, a “hub” structure, and DC and AC coils. Two generations are described. The first-generation motor uses a stator with a bilayer of silicon (ø8 mm x 65 µm thick) and magnetoelastic foil (Metglas™ 2826MB bulk foil, ø8 mm x 25 µm thick). The motor provides bi-directional rotation capability, and typical resonant frequencies of the clockwise and counterclockwise modes are 6.1 kHz and 7.9 kHz, respectively. The counterclockwise mode provides a rotation rate of ≈100 rpm, start torque of 30 nN∙m, a step size of 74 milli-degree and a capability for driving a 100 mg payload while a 8 Oe DC and a 6 Oe-amplitude AC magnetic field are applied. The second-generation of motors includes bilayer standing wave and traveling wave designs (ø5 mm stators) with integrated capacitive sensors for real-time position measurement and speed estimation. Clockwise and counterclockwise mode shapes with resonant frequencies of 12 kHz and 22.4 kHz, respectively, are measured for the standing wave motor. Two mode shapes (with π/2 spatial phase difference) at resonant frequencies of 30.2 kHz and 31.7 kHz are measured for the traveling wave motor. The wireless actuation capability and the hybrid integration of the bulk magnetoelastic material with silicon show promise for use in many microsystems. A lithographically patterned, frame-suspended hexagonal magnetoelastic tag design (ø1.3 mm x 27 µm thick) is also investigated. These tags provide ≈75x signal amplitude improvement compared to a non-suspended disc tag, while occupying ≈100x smaller area than typical commercial ribbon tags. Signal strength can also be boosted by taking advantage of tag signal superposition. Linear signal superposition of the response has been experimentally measured for clustered sets of frame-suspended tags that include as many as 500 units. Miniaturized tags with sufficient signal strength may enable new applications, such as distributing the tags into a network of cracks and subsequently mapping the distribution.PhDMechanical EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/108961/1/juntang_1.pd

Uv-liga Compatible Electroformed Nano-structured Materials For Micro Mechanical Systems

UV-LIGA is a microfabrication process realzed by material deposition through microfabricated molds. UV photolithography is conducted to pattern precise thick micro molds using UV light sensitive materials, mostly SU-8, and electroforming is performed to fabricate micro metallic structures defined by the micro molds. Therefore, UV-LIGA is a bottom-up in situ material-addition process. UV-LIGA has received broad attention recently than LIGA a micro molding fabrication process using X-ray to pattern the micro molds. LIGA is an expansive and is limited in access. In comparing to LIGA, the UV-LIGA is a cost effective process, and is widely accessible and safe. Therefore, it has been extensively used for the fabrication of metallic micro-electro-mechanical-systems (MEMS). The motivation of this research was to study micro mechanical systems fabricated with nano-structured metallic materials via UV-LIGA process. Various micro mechanical systems with high-aspect-ratio and thick metallic structures have been developed and are presented in this desertation. A novel micro mechanical valve has been developed with nano-structured nickel realized with UV-LIGA fabrication technique. Robust compact valves are crucial for space applications where payload and rubstaness are critically concerned. Two types of large flow rate robust passive micro check valve arrays have been designed, fabricated and tested for robust hydraulic actuators. The first such micro valve developed employs nanostructured nickel as the valve flap and single-crystal silicon as the substrates to house inlet and outlet channels. The Nano-structured nickel valve flap was fabricated using the UV-LIGA process developed and the microchannels were fabricated by deep reactive etching (DRIE) method. The valves were designed to operate under a high pressure (\u3e10MPa), able to operate at high frequencies (\u3e10kHz) in cooperating with the PZT actuator to produce large flow rates (\u3e10 cc/s). The fabricated microvalves weigh 0.2 gram, after packing with a novel designated valve stopper. The tested results showed that the micro valve was able to operate at up to 14kHz. This is a great difference in comparison to traditional mechanical valves whose operations are limited to 500 Hz or less. The advantages of micro machined valves attribute to the scaling laws. The second type of micro mechanical valves developed is a in situ assembled solid metallic (nickel) valves. Both the valve substrates for inlet and outlet channels and the valve flap, as well as the valve stopper were made by nickel through a UV-LIGA fabrication process developed. Continuous multiple micro molds fabrication and molding processes were performed. Final micro mechanical valves were received after removing the micro molds used to define the strutures. There is no any additional machining process, such as cutting or packaging. The alignment for laminated fabrication was realized under microscope, therefore it is a highly precise in situ fabrication process. Testing results show the valve has a forward flow rate of19 cc/s under a pressure difference of 90 psi. The backward flow rate of 0.023 cc/s, which is negligible (0.13%). Nano-structured nickel has also been used to develop laminated (sandwiched) micro cryogenic heater exchanger with the UV-LIGA process. Even though nickel is apparently not a good thermal conductor at room temperature, it is a good conductor at cryogentic temerpature since its thermal conductivity increases to 1250 W/k·m at 77K. Micro patterned SU-8 molds and electroformed nickel have been developed to realize the sandwiched heat exchanger. The SU-8 mold (200mm x 200mm x50mm) array was successfully removed after completing the nickel electroforming. The second layer of patterned SU-8 layer (200mm x 200mm x50mm, as a thermal insulating layer) was patterned and aligned on the top of the electroformed nickel structure to form the laminated (sandwiched) micro heat exchanger. The fabricated sandwiched structure can withstand cryogenic temperature (77K) without any damages (cracks or delaminations). A study on nanocomposite for micro mechanical systems using UV-LIGA compatible electroforming process has been performed. Single-walled carbon nanotubes (SWNTs) have been proven excellent mechanical properties and thermal conductive properties, such as high strength and elastic modulus, negative coefficient of thermal expansion (CTE) and a high thermal conductivity. These properties make SWNT an excellent reinforcement in nanocomposite for various applications. However, there has been a challenge of utilizing SWNTs for engineering applications due to difficulties in quality control and handling too small (1-2nm in diameter). A novel copper/SWNT nanocomposite has been developed during this dissertational research. The goal of this research was to develop a heat spreader for high power electronics (HPE). Semiconductors for HPE, such as AlGaN/GaN high electron mobility transistors grown on SiC dies have a typical CTE about 4~6x10-6/k while most metallic heat spreaders such as copper have a CTE of more than 10x10-6/k. The SWNTs were successfully dispersed in the copper matrix to form the SWNT/Cu nano composite. The tested composite density is about 7.54 g/cm3, which indicating the SWNT volumetric fraction of 18%. SEM pictures show copper univformly coated on SWNT (worm-shaped structure). The measured CTE of the nanocomposite is 4.7 x 10-6/°C, perfectly matching that of SiC die (3.8 x 10-6/°C). The thermal conductivity derived by Wiedemann-Franz law after measuring composit\u27s electrical conductivity, is 588 W/m-K, which is 40% better than that of pure copper. These properties are extremely important for the heat spreader/exchanger to remove the heat from HPE devices (SiC dies). Meanwhile, the matched CTE will reduce the resulted stress in the interface to prevent delaminations. Therefore, the naocomposite developed will be an excellent replacement material for the CuMo currently used in high power radar, and other HPE devices under developing. The mechanical performance and reliability of micro mechanical devices are critical for their application. In order to validate the design & simulation results, a direct (tensile) test method was developed to test the mechanical properties of the materials involved in this research, including nickel and SU-8. Micro machined specimens were fabricated and tested on a MTS Tytron Micro Force Tester with specially designed gripers. The tested fracture strength of nanostructured nickel is 900±70 MPa and of 50MPa for SU-8, resepctively which are much higher than published values

Design, Fabrication and Levitation Experiments of a Micromachined Electrostatically Suspended Six-Axis Accelerometer

A micromachined electrostatically suspended six-axis accelerometer, with a square plate as proof mass housed by a top stator and bottom stator, is presented. The device structure and related techniques concerning its operating principles, such as calculation of capacitances and electrostatic forces/moments, detection and levitation control of the proof mass, acceleration measurement, and structural parameters design, are described. Hybrid MEMS manufacturing techniques, including surface micromachining fabrication of thin film electrodes and interconnections, integration fabrication of thick nickel structures about 500 μm using UV-LIGA by successful removal of SU-8 photoresist mold, DRIE of silicon proof mass in thickness of 450 μm, microassembly and solder bonding, were employed to fabricate this prototype microdevice. A levitation experiment system for the fabricated microaccelerometer chip is introduced, and levitation results show that fast initial levitation within 10 ms and stable full suspension of the proof mass have been successfully demonstrated