Академический Документы
Профессиональный Документы
Культура Документы
by
Daejong Kim
2004
by
Daejong Kim, B.S.; M.S.
Dissertation
Presented to the Faculty of the Graduate School of
The University of Texas at Austin
in Partial Fulfillment
of the Requirements
for the Degree of
Doctor of Philosophy
The dissertation Committee for Daejong Kim certifies that this is the
approved version of the following dissertation:
Committee:
Dedication
Acknowledgements
I am grateful to all the people who were with me throughout the PhD program. Most
special appreciation goes to my advisor, Dr. Michael D. Bryant, for helping me and
guiding me to accomplish this work. I was very fortunate to have him as an advisor. He
has always motivated me, gave emotional support to overcome every difficulty
encountered during the work and led me to be a good researcher. Another special
appreciation goes to Dr. Frederick F. Ling, co-advisor, for leading me to this exciting
area and all his emotional support. I appreciate Dr. Wenjin Meng, Louisiana State
University for valuable advice and support for coating. I also appreciate Dr. Shaochen
Chen and Dr. Li Shi for their valuable advice and help to finish my PhD work.
Special thanks go to Yohannes Desta, Yoonyoung Jin, and Dr. Jost Goettert for their
help during the fabrication of gas bearings. Additionally, I thank Don Artieschoufsky,
Curtis Johnson, Danny Jares and John Pedrachine for their technical support for
machining parts and other staffs in the department. Partial support from NSF is also
acknowledged.
Special thanks go to Byungsoon Kim, Myungjin Kim and their family, who shared
happy and exciting life in Austin. Thanks to office mates, Jihoon, Sanghoon, Huijie and
other Korean graduate students in the department. Our family will miss all the wonderful
memories of neighbors and families in Brackenridge apartments. Finally, this work was
not possible without endless love and emotional support of my wife Donghee, my
children, Yushin and Edward, and my parents, brothers and sisters in Korea.
Supervisor:
Michael D. Bryant
Micro gas bearings of sub millimeter size (diameter of 500m and length of
300m) with micron clearances were designed and fabricated through X-ray lithography
and Ni electroplating. Details of the fabrication processes for the micro gas bearings are
described. Procedures to make X-ray mask and technical issues are discussed. Static and
dynamic hydrodynamic characteristics of the micro gas bearings were assessed using
Molecular Gas Lubrication (MGL) theory. Fabricated micro gas bearings had lower
stability than plain circular gas bearings due to lower load capacity and poor gas
damping. Improved bearing designs having non-symmetrical step geometry with deep
axial groove were suggested. These bearings were predicted to have much higher load
capacities and dynamic stabilities than the fabricated micro gas bearings.
Micro gas bearings were tested via an air jet-driven micro turbine made of SU-8,
press-fitted onto the shaft. A self-aligning assembly technique for the micro gas bearings
(using capillary action of photo resist) was developed and proved to be very effective.
Successful operation of micro gas bearings at 60,000 rpm was demonstrated under
limited operating conditions.
Tribological characteristics of Ni micro bearings and amorphous tungsten
hydrocarbon (W-C:H) coated micro bearings were investigated in dry friction mode,
vi
using a newly designed micro tribo tester. 900nm thick uniform conformal coatings were
deposited onto the inner surface of micro bearings. Chemical and mechanical
microstructures were studied via X-ray Photoelectron Spectroscopy (XPS), Raman micro
spectroscopy. Wear rates, mechanical and material properties, and other tribological
characteristics of W-C:H coated Ni micro bearings were investigated and compared to
those of uncoated Ni micro bearings.
Uncoated Ni micro bearings, as deposited and annealed at 800oC, experienced
severe wear and appeared inadequate for tribological applications. Micro bearings with
low tungsten-containing (5% wt) hydrocarbon had higher wear resistance than micro
bearings with high tungsten-containing (11% wt) hydrocarbon. During the wear test of
the W-C:H coated micro bearings, a transfer layer formed on the counter steel shaft even
under very small contact pressure, leading to low steady state friction and high wear
resistance.
vii
Table of Contents
List of Tables .................................................................................................................... xii
List of Figures .................................................................................................................. xiii
Chapter 1 Introduction .........................................................................................................1
1.1 Reliability Issue on MEMS...................................................................................1
1.2 Micro Gas Bearings ..............................................................................................2
1.2.1 Operating Principle of Gas Bearings ...........................................................2
1.2.2 Past Research on Micro Gas Bearings .........................................................4
1.3 Mechanism of Stiction of Two Surfaces in MEMS..............................................6
1.3.1 Capillary Force ............................................................................................6
1.3.2 Van der Waals Force....................................................................................8
1.3.3 Electrostatic Force .......................................................................................9
1.4 Review of Nano Scale Friction Study via AFM .................................................10
1.5 Past Studies on Coatings for MEMS devices .....................................................14
1.5.1 Chemisorbed Monolayer............................................................................15
1.5.2 Hydrocarbon Based Coatings ....................................................................16
1.6 Overview of Dissertation ....................................................................................18
Chapter 2 Fabrication Processes of Micro Gas Bearings...................................................19
2.1 Introduction.........................................................................................................19
2.2 Fabrication Processes of Micro Gas Bearings ....................................................20
2.3 X-ray Lithography on PMMA ............................................................................21
2.3.1 Substrate Preparation .................................................................................21
2.3.2 Material Selection for X-ray Mask ............................................................22
2.3.3 Fabrication Processes of X-ray Mask ........................................................24
2.3.4 X-ray Exposure and Development.............................................................26
2.4 Post Processes .....................................................................................................26
2.4.1 Electroplating.............................................................................................26
2.4.2 Processes to Form Thrust Bearings............................................................31
viii
...............................................................................................................................162
List of Tables
Table 2.1:
Table 2.2:
Table 2.3:
Table 2.4:
Table 3.1:
Table 4.1:
* and m* for stepped bearing with axial grooves (S/P =0.5, R=0o) ....74
Table 4.2:
* and m* for different S/P, the number of steps (R=0o, =0.6, =1) ...74
Table 4.3:
Threshold speed * and rotor mass m* for four-stepped gas bearings with
axial grooves; C=1m, step height=1m, S/P =0.333 (S =30o) ...............79
Table 4.4:
Table 4.5:
Table 5.1:
Load capacity and threshold rotor mass of plain micro gas bearings .........108
Table 5.2:
Load capacity and threshold rotor mass of stepped micro gas bearings.....108
Table 6.1:
Table 6.2:
Table 6.3:
xi
List of Figures
Figure 1.1: Stiction failure of surface micro machined micro cantilever beam array
[Maboudian and Howe, 1997] ........................................................................2
Figure 1.2: Failure of poly silicon joint by surface friction [Tanner, 2000] .....................2
Figure 1.3: Operating principles of gas journal bearings ..................................................3
Figure 1.4: Micro fabricated micro gas bearing test rig [Lin, 1999].................................5
Figure 1.5: Capillary condensations around spherical asperity.........................................7
Figure 1.6: Surface energy balance at interface of three media ........................................7
Figure 1.7: Deformation of elastic sphere on rigid surface [Israelachvili, 1992]............13
Figure 1.8: Friction coefficients of 250nm thick DLC on glass: (a) Friction coefficienttip radius (b) Friction coefficient-applied load (contact pressure) [Bandorf et
al, 2003] ........................................................................................................14
Figure 1.9: Friction coefficient in (a) vacuum / ambient (b) dry N2 / ambient [Donnet et
al 1994] : Test conditions :contact pressure 1GPa ,sliding speed 1.7mm/s,
Ra=0.28nm, Steel ball on DLC.....................................................................17
Figure 2.1: Micro gas bearing design, the heights of steps and recesses are exaggerated,
and the overall diameter is 2mm: (a) Dimensions of journal bearings, (b)
Dimensions of thrust bearings ......................................................................19
Figure 2.2: Overall fabrication processes of micro gas bearings: (a) X-ray lithography,
(b) Ni plating/polishing, (c) SU-8 photolithography, (d) Ni plating/polishing,
(e) Photolithography/etching, (f) Releasing..................................................21
Figure 2.3: Absorption contrast of 3m Ti membrane mask versus Au thickness with
various PMMA thicknesses ..........................................................................23
Figure 2.4: SEM image of patterned 13m thick SPR: (a) overall image of bearings, (b)
near perfect vertical sidewall ........................................................................25
Figure 2.5: SEM images of Ti-membrane X-ray mask with 8m thick Au absorber: (a)
Top view, (b) 2m step in journal bearings..................................................25
Figure 2.6: Ti membrane X-ray mask with Au absorber.................................................25
Figure 2.7: Reaction in the Ni electroplating bath ..........................................................27
xii
Figure 3.10: Circumferential pressure profile at the bearing center (=0.2, R= 25o)......53
Figure 3.11: Direction of load capacity vector F for the conditions in Figure 3.10 with
=0.98, =0.2, and R= 25o. X = 0.0318 and Y = 0.0156............................54
Figure 3.12: Load capacity as a function of step height for thrust bearings .....................55
Figure 3.13: Non-dimensional rotational friction of micro gas bearing (R =5o for stepped
journal bearings, step height 3m for thrust bearings) .................................55
Figure 4.1: Journal bearing operating at an equilibrium point with eccentricity e, where
F is bearing reaction force represented as integral term in Equation (4.1)...57
Figure 4.2: Converging orbit from origin (stepped gas journal bearing, =0.6, 0=0.6,
..62
Figure 4.14: Axial grooves formed at the beginning of every step. Axial grooves supply
gas with ambient pressure to minimize high negative pressure and decrease
attitude angles ...............................................................................................69
Figure 4.15: Static performance for stepped gas journal bearings with axial grooves (R=
0o): (a) =1, (b) =10...................................................................................71
Figure 4.16: Load parameter and attitude angle of six-stepped bearings without axial
grooves for various step configurations (R=0o, =0.6, and =1) ................72
Figure 4.17: Load parameter and attitude angle of four-stepped bearings without axial
grooves for various step configurations for (R=0o, =0.6, and =1) ..........72
Figure 4.18: Orbit for 50 cycles for four stepped bearing without axial grooves, S/P
=0.333, =1, =0.6, step height 2m, and *=6 (m*=1.5022, m=0.12g)....75
Figure 4.19: Four-stepped micro gas bearings with axial grooves....................................76
Figure 4.20: Static performance of four-stepped micro gas journal bearings with axial
grooves: (a) C=1m, step height 2m, (b) C=1m, step height 1m ..........77
Figure 4.21: Pressure profiles (=1, =0.4) of four-stepped micro gas bearings with axial
grooves..........................................................................................................78
Figure 4.22: Orbit for 100 cycles of four-stepped gas bearings with axial grooves, =1,
=0.6, and *=15: (a) Orbit for step height 1m, (b) Orbit for step height
2m ...............................................................................................................80
Figure 4.23: Orbit for 400 cycles of four-stepped gas bearings with axial grooves, =1,
=0.6, step height 2m, and *=40. Very slow chaotic motion initiates and
does not converge or diverge ........................................................................81
Figure 4.24: Orbit for four-stepped gas bearings with axial grooves, =5, =0.6, *=5,
and step height 1m: (a) Orbit for total 200 cycles, (b) Orbit for last 10
cycles.............................................................................................................82
Figure 4.25: Orbit for 200 cycles of four-stepped gas bearings with axial grooves, =5,
=0.8, and step height 1m: (a) Orbit for *=1, (b) Orbit for *=5, (c) Orbit
for *=10, (d) Orbit for *=20 ....................................................................83
xv
Figure 4.26: Conceptual figure of meso scale gas bearing with spiral grooved thrust
bearings, D=L=2mm.....................................................................................85
Figure 4.27: Laser scanner: (a) Assembled unit, (b) Rotor. The X-Y-Z is a fixed reference
frame and x-y-z is a rotational coordinate attached to rotor center ...............87
Figure 4.28: HDD spindle rotor: The X-Y-Z is a fixed reference frame and x-y-z is a
rotational coordinate attached to rotor center. y(Y) axis is into the plane....87
Figure 4.29: Rotor with angular rotation and eccentricity: The X-Y-Z is a fixed reference
frame with origin at the center of bearing and x-y-z is a rotational coordinate
attached to rotor center..................................................................................89
Figure 4.30: Three-dimensional imbalance response of HDD rotor, 50 cycles: (a) Orbit at
Z=0, (b) Stable rotor from initial misalignment (X0=0.2, Y0=0.2),
Imbalance force: 0.56N, Speed: 15,000 RPM ..............................................93
Figure 4.31: Three-dimensional imbalance response of HDD rotor, 50 cycles: (a) Orbit at
Z=0, (b) Stable rotor from initial misalignment (X0=0.2, Y0=0.2),
Imbalance force: 0.033N, Speed: 15,000 RPM ............................................93
Figure 4.32: Rotor orbits of Laser scanner rotor, 30 cycles; (a) 100,000rpm (b) 200,000
rpm (c) 300,000 rpm (d) 400,000rpm (e) 440,000rpm (f) 500,000 rpm (g)
600,000 rpm (h) 700,000 rpm (i) 800,000 rpm (j) 860,000 rpm...................95
Figure 4.33: Frequency spectrum of Laser scanner rotor orbit; (a) 660,000 rpm (b)
680,000 rpm (c) 700,000 rpm (d) 800,000 rpm ............................................96
Figure 4.34: Trace of misalignment of Laser scanner rotor at 860,000 rpm from initial
misalignment.................................................................................................96
Figure 5.1: Description of rotor running at certain eccentricity under given external
load................................................................................................................98
Figure 5.2: Macro scale gas bearing tester [Wilde and Andres, 2003] ...........................98
Figure 5.3: Meso scale turbo jet simulator supported by foil gas bearings [Heshmat,
2003] .............................................................................................................99
Figure 5.4: Photo of gas bearing tester; (a) Description of gas bearing tester (b) Photo of
assembled gas bearing tester (c) Capacitance sensor and drive shaft with
press-fitted SU-8 turbine.............................................................................101
xvi
Figure 5.5: Assembly procedures of micro gas bearings; (a) Pre-assembly (b) Photo
resist dispensing
Figure 5.6: Photonic sensor signal measuring rotor speeds; (a) Supply pressure 35psi
(b) Supply pressure 50psi............................................................................102
Figure 5.7: Impulse turbine with open air jet ................................................................103
Figure 5.8: Simulated speed of dental drill turbine .......................................................105
Figure 5.9: Vibration signal from bearings with 2.3mg rotor; (a) Vibration signal from
plain bearing, speed 8890 rpm (b) Vibration signal from step bearing ......106
Figure 5.10: SEM images after operation for 1 hour with repeated start/stops every 5 to
10 minutes...................................................................................................107
Figure 5.11: New gas bearing tester with machined shroud to drive micro turbine; (a)
Shroud (b) Enlarged image of circled region in (a) (c) Photo of assembled
new gas bearing tester.................................................................................109
Figure 5.12: Photonic sensor signal measuring rotor speeds with new gas bearing tester
shown in Figure 5.11, supply pressure 35psi, plain gas bearing.................110
Figure 5.13: Simulated orbit of 2.3mg rotor supported by plain gas bearing at 60,000 rpm
with combined load of rotor mass and preload (7.4mg) .............................111
Figure 5.14: SEM image of plain gas bearing surface after test with new test rig shown in
Figure 5.11 ..................................................................................................111
Figure 6.1: Ni micro bearing: (a) Photograph of micro sleeve bearings, (b) SEM image
of Ni micro sleeve bearing surface before coating, the lower arc is the inner
diameter.......................................................................................................113
Figure 6.2: Microstructure of sidewall of electroplated Ni, as deposited and annealed
[Hemker et al, 2001; Cho et al, 2003].........................................................115
Figure 6.3: Fixture to coat W-C:H coatings on the micro bearings: (a) 1mm thick
stainless steel sheet with holes to hold micro bearings (b) Conformal coating
process of bearing surfaces .........................................................................116
Figure 6.4: Photo of W-C:H coated micro bearings......................................................117
Figure 6.5: Raman spectrum of new W-C:H.................................................................118
Figure 6.6: 900 nm thick uniform coating thickness on the bearing surface ................118
xvii
Figure 6.7: SEM images of W-DLC2 coated bearing surface: (a) Low magnification
SEM image of W-DLC2 coated surface (b) High magnification SEM image
of W-DLC2 coated surface (40K) ............................................................119
Figure 6.8: Micro wear tester: (a) Overview, (b) Detailed view within dotted circle in
(a), (c) Photo of micro wear tester ..............................................................121
Figure 6.9: Micro friction tester: (a) Schematic diagram, (b) Principle of friction
measurement (side view), (c) Photo of friction tester.................................122
Figure 6.10: Wear characteristics of as-deposited Ni bearings: (a) Top view, worn
materials moved along the axial direction and accumulated at the thrust
surface of the bearing (b) Inner bearing surface after test ..........................125
Figure 6.11: Wear characteristics of annealed (at 800oC for 1h) Ni bearings: (a) Top
view, worn materials moved along the axial direction and accumulated at
the thrust surface of the bearing as multiple layers
Figure 7.4: Fabrication process of micro stamping mold for foil; (a) X-ray lithography
(b) Stacking (c) Solid micro stamping mold
mold ............................................................................................................136
Figure 7.5: Gas bearing tester using reaction turbine....................................................138
Figure 7.6: Auxiliary devices for gas bearing tester in Figure 6.3: (a) Radial impulse
turbine (b) Centrifugal pump ......................................................................138
Figure A.1: Control volume (Figure 3.3 is repeated) ..................................................143
xix
Chapter 1
Introduction
The first part of this chapter addresses reliability issues of micro electro
mechanical systems (MEMS). The second part introduces the gas bearing, reviews
operating principles of gas bearings and past research on micro gas bearings. Various
surface forces causing stiction failures in MEMS devices and past nano scale tribological
studies via Atomic Force Microscopy (AFM) are reviewed. Finally, past tribological
studies on MEMS surfaces are reviewed, and the dissertation is overviewed.
Figure 1.1 Stiction failure of surface micro machined micro cantilever beam
array [Maboudian and Howe, 1997]
Figure l.2 Failure of poly silicon joint by surface friction [Tanner, 2000]
formed. The pressure builds between the two converging surfaces to maintain gas flow
continuity at the inlet (=0o) and outlet (=180o), assuming no side leakage. When there
is side leakage (that is, for actual bearings), the pressure from the wedge effect is smaller.
The other mechanism is the squeeze film effect. When the gas film in the bearing
clearance is squeezed suddenly, escaping gas molecules feel resistance from surrounding
gas molecules, and a positive pressure is generated. The pressure profile in a journal
bearing causes the journal shaft to orient with attitude angle with respect to the load
direction. The main advantages of gas bearings over high precision ball bearings are
frictionless operation, negligible thermal degradation, and ultra high precision. Macro
scale gas journal bearings have been used for high precision and high speed rotating
machinery for decades.
Chapters 3 and 4 present a detailed mathematical model, to estimate the pressure
distribution in the bearing clearance, and numerical analyses of the static and dynamic
performance of the micro gas bearings.
In common hydrostatic gas bearings, air is supplied along the radial direction through small orifices or
capillary tubes formed at the bearing surface.
bearings with rotor diameters 50-100mm. Whirl instability due to the large bearing
clearance, and catastrophic failure of the silicon rotor upon touch-down to bearing (made
of silicon, too) resulted.
Rotor
Figure 1.4 Micro fabricated micro gas bearing test rig [Lin, 1999]
This work pursued new approaches. Micro gas bearings were fabricated as a
single component through X-ray lithography and electroplating. A stainless steel gauge
pin machined to ultra precision (0.25m), served as a journal shaft. Simple and very
easy assembly processes using self-aligning concepts (such as surface tension or
precision dowel pins) were developed. Detailed specifications and fabrication processes
will be discussed in Chapter 2.
rk =
r1 r2
r1 + r2
(1.1)
where r1 and r2 are radii of the meniscus curvature in principle directions. In a spherical
meniscus, r1=r2=rK. In a cylindrical meniscus, r2=. The Kelvin radius, derived from
equilibrium of the chemical potential across the meniscus surface, is given by
[Israelachvili, 1992] as
rk =
LV
R T log(% RH / 100)
(1.2)
where, RH is relative humidity (%), LV and v are surface tension and molar volume of
water, respectively, and R is the ideal gas constant.
The adhesion force associated with liquid condensation arises from pressure
differences across the meniscus is given by [Israelachvili, 1992]
6
Fcap = 4R LV cos
(1.3)
Here, is the water contact angle on the solid surface, determined from a force balance
at the interface between water droplet, the vapor phase and the solid surface as in
Figure1.6. The force balance equation is called Youngs equation [Meyer et al, 2000],
given as
LV cos + SL = SV
(1.4a)
or
cos =
SV SL
LV
(1.4b)
R
x
r1
r1
(a)
r1cos
(b)
LV
SV
SL
When a sphere and a flat surface are separated by a distance d, the capillary
attractive force can be derived by minimizing the surface free energy, keeping constant
liquid volume, as
Fcap (d ) = 4R LV
8rK R LV cos 2
y
cos
=
y+d
2rK cos + d
(1.5)
From equation (1.5), the capillary force depends on the water contact angle , and
the relative humidity of the environment.
When the surface energy of solid SV exceeds the solid-liquid interfacial energy
SL, i.e., <90 o, the surface is hydrophilic and attractive. When SV is smaller than SL,
i.e., >90o, the surface is hydrophobic, making the capillary force repulsive. Minimizing
the surface energy SV and increasing the water contact angle for a given relative
humidity can reduce capillary attractive forces.
W (r ) =
C
r6
(1.6)
for all the three types of dipole-dipole interactions. Here, C is a constant for given
temperature, depending on the type of dipole interaction and r is distance between the
molecules.
Adhesion forces by van der Waals interaction between macroscopic particles
result from integration of the interaction energy, given by equation (1.6), over all atoms
or molecules that constitute the two surfaces. For a macroscopic sphere of radius R and a
flat surface separated by d, the adhesion force due to the van der Waals interaction can be
derived as [Israelachvili, 1992]
Fwdw (d ) =
HR
6d
(1.7)
Here, H is called Hamaker constant, a property depending on the materials of the two
surfaces. The adhesion force per unit area between two flat surfaces becomes
f wdw (d ) =
H
6d 3
(1.8)
Equations (1.8) and (1.9) are not valid for d=0 because the interaction potential,
equation (1.6), accounts for only attraction energy when the distance is larger than
intermolecular or inter atomic distance.
1 2 R 2
Felec (d ) =
0
(1.9)
Here, 1 and2 are charge densities of the two surfaces,0 is the permittivity of free space,
and is dielectric constant of the media between the sphere and flat surface. For two flat
surfaces, the electrostatic attraction per unit area becomes
f elec (d ) =
1 2
4 0 d 2
(1.10)
From the above, van der Waals forces are unavoidable. Electrostatic force is
generated only when an electric field is applied. However to minimize electrostatic
attractions after an electric field is removed, the charges trapped on the surface should be
quickly dissipated. Highly conductive materials help dissipate surface charge. Reducing
surface energy of the material can minimize capillary attractive forces in humid
environments. By choosing adequate materials and surface modification processes, it is
possible to reduce stiction failures and friction in MEMS devices.
10
and tip radius of 20~100nm. In this section, issues on nano scale study on adhesioncontrolled friction (under elastic contact), are investigated.
Modern theory of adhesion-controlled friction employs Bowden and Tabors
adhesion model [Meyer et al, 2000], in which the friction force
F f = SAR
(1.11)
is proportional to real contact area AR and the interfacial shear strength S, dependent on
the interfacial conditions such as surface energy and lubrication. The dependence on load
is contained in the real contact area AR. Nano tribological studies of different carbon
based coatings [Schwarz et al, 1997; Lu and Komvopoulos, 2001] and diamond and WC
interfaces [Enachescu et al, 1998], showed that S is nearly constant, and the friction force,
between a single asperity and a smooth surface at the atomic level, is proportional to the
contact area predicted by Johnson, Kendal and Roberts (JKR) or Derjaguin, Muller and
Toporov (DMT) contact model (explained later). They used accurately manufactured
nano scale tips (17~58nm radius) to simulate single spherical asperity contact.
A simple contact model to estimate the contact area for single asperity contact is
Hertzian [Johnson, 1985], in which the deformation of two spherical surfaces is assumed
elastic. The contact area follows from elastic theory is given by
R F
A = e e
K
2/3
(1.12)
where
4 1 1 1 2
K=
+
3 E1
E2
2
11
(1.13)
is an effective elastic modulus based on Youngs modulus E1, E2 and Poisons ratio 1, 2
for the contacting surfaces and Fe is an external force. In the foregoing, an effective
radius Re of the two contacting curved surfaces becomes
Re =
R1 R2
R1 + R2
(1.14)
If surface energy effects and elastic deformations are considered, the JKR model
predicts contact area well for materials with high surface energy and low stiffness
[Schwarz et al, 1997; Enachescu et al, 1998]. The DMT model accurately predicts the
contact area for materials with low surface energy and high stiffness.
The contact area between two spheres, when adhesion force Fa is considered, is
given by, from equation (1.12),
R ( F + Fa )
A = e e
2/3
(1.15)
Here
Fa = 3ReWad + 6ReWad Fe + (3ReWad ) 2
Fa = Wad Re
(1.16)
Here, 1 and 2 are surface energy of two surfaces and 12 is an interfacial surface energy
between surface 1 and surface 2. When two surfaces consist of the identical material,
Wda = 2 1 . The contact area A increases with the surface energy of the solid surface. As
seen in Figure 1.7, in the presence of surface energy, two surfaces tend to adhere even
without external force.
12
Putting the contact area predicted by JKR or DMT model into the adhesioncontrolled friction equation (1.11) yields
F f = CRe
2/3
(Fe + Fa )2 / 3 , where
S
K 2/3
(1.17)
Because C is constant (S is constant as assumed earlier), the friction force depends on the
radius of asperity, the surface energies of the two surfaces, and external force. The
friction force depends on the AFM tip radius, surface energies of the two surfaces, and
external force. If surface energies are very small, Fa can be neglected and Ff is
proportional to R2/3.
Another noticeable fact is that the equation (1.17) is only true for very small
sliding speed, where relaxation time of the atoms experiencing elastic deformation during
the scanning of AFM tip is much smaller than the inter atomic distance divided by the
scanning speed. Figure 1.8 shows the tendency of nano scale friction, where nano scale
friction coefficients of DLC coatings on a glass wafer increased, as AFM tip radius and
applied load (contact pressure) increased [Bandorf et al, 2003].
Tip radius, surface energy, and scanning speed-dependent behavior of friction
forces makes comparison of measured nano scale friction coefficients, to friction
coefficients measured by other methods, difficult, especially if the test environment and
tip radius are not known exactly, or the tip is not perfectly spherical.
13
withstand up to 400oC in air. Electrical properties are also important reducing permanent
stiction in MEMS device. FDTS has much lower resistivity than OTS, which leads to less
surface charge accumulation and low stiction. A FDTS coated cantilever actuator showed
far superior performance over 40 million cycles without failure compared to an OTS
coated actuator [Srinivasan et al, 1998].
Teflon-like fluorinated hydrocarbon coatings (FC) consisting of CFx chains,
grown commonly by plasma polymerization [Yasuda, 1985], also show very low surface
energy of 7mJ/m2 and high durability in wear tests (collapse cycles of cantilever) even at
400oC [Mastrangelo, 1997]. Periodic contact tests with an actuated cantilever showed 108
collapse cycles at 150oC without any degradation of 20nm thick FC films [Mastrangelo,
1997].
Despite very low surface energy and high reliability, during repeated collapse
cycles in certain conditions, sliding wear resistance and long-term reliability of these
chemisorbed monolayer coatings are questionable, especially in harsh environments.
(a)
(b)
Figure 1.9 Friction coefficient in: (a) Vacuum / ambient (b) Dry N2 / ambient
[Donnet et al 1994] ; Test conditions :contact pressure 1GPa ,sliding speed 1.7mm/s,
Ra=0.28nm, Steel ball on DLC
Recent research on highly hydrogenated DLC [Erdemir et al, 2000] revealed the
importance of hydrogen to very low friction in vacuum or dry nitrogen environment.
Erdemir [Erdemir et al, 2000] suggested the passivation of dangling bonds of surface
carbon by continuously released hydrogen atoms from bulk DLC, and strong repulsion
between the surface hydrogen atoms, to be the main cause of ultra low friction.
Despite promising tribological characteristics and proven performance of DLC in
macro scale applications, direct applications to MEMS have been limited. Beerschwinger
et al [Beerschwinger et al, 1995] measured friction of DLC coating on flat silicon surface,
via surface micro machined small friction tester. Bandorf et al [Bandorf et al, 2003]
showed that DLC on soft polymer surface had better wear resistance than DLC on silicon
wafer. Mousinho et al [Mousinho et al, 2003] demonstrated microstructures made with
DLC film, deposited by RF magnetron sputtering. Cao et al [Cao et al, 2003] coated Ti17
containing DLC (Ti-C:H) on Ni micro mold insert, fabricated by X-ray lithography and
electroplating. However, applications of DLC coatings to the sidewall of micro scale
mechanical parts, that experience sliding contacts (bearings, gears, etc), have not been
reported.
18
Chapter 2
Fabrication Processes of Micro Gas Bearings
In this chapter, detailed fabrication processes of micro gas bearings are described.
Procedures to make X-ray mask and technical issues are discussed. Finally SU-8
lithography, electroplating principle, and other issues are addressed.
2.1 Introduction
Figure 2.1 shows the configuration and dimensions of fabricated micro gas
journal bearings with thrust pads. The journal bearings have several evenly distributed
recesses 2m deep along the circumferential direction, to control inherent whirl
instability [Cheng and Pan 1965; Castelli and Elrod, 1965]. Thrust bearings with 4 thrust
pads, 3m high with an angular width of 30o, were integrated with the journal bearing.
Radial grooves with an angular width of 20o and a 100m depth were formed at the end
of every thrust pad to present atmospheric pressure to the beginnings and ends of thrust
pads. The inner and outer diameters of the thrust pads are 0.6mm and 1.5mm respectively.
500m
1.5mm
2m step
600m
30o
3m step
300m
Figure 2.1 Micro gas bearing design, the heights of steps and recesses are
exaggerated, and the overall diameter is 2mm
19
20
(d) Ni plating/polishing
Figure 2.2 Overall fabrication processes of micro gas bearings: (a) X-ray
lithography, (b) Ni plating/polishing, (c) SU-8 photolithography, (d) Ni
plating/polishing, (e) Photolithography/etching, (f) Releasing
21
Quantity
2.04g
2.0g
Up to 100ml
To reduce the stress of the bond resin and increase the molecular weight, >1%
BPO was used to minimize the monomer content below 0.5% [Madou, 2002]. The
prepared epoxy resin was placed in the vacuum oven for 3 minutes to remove air bubbles
in the resin. The PMMA sheet was bonded under constant pressure (20psi) for 8 hours to
allow complete polymerization of the bonding epoxy. The bonded PMMA sheet was cut
to 350m thickness with a fly cutter.
CQ grade is a particular cast sheet of PMMA for X-ray lithography that is additive-free and is the highest
molecular weight grade of PMMA available. It contains a minimum UV absorber.
3
MEMO: 3-Methacryloxypropyltrimethoxysilane
4
BPO: Benzoyl peroxide
5
DMA: Dimethylaniline
6
MMA: Methylmethacrylate Monomer
22
itself. A 3m Ti film was chosen as an X-ray transmitting membrane because of the good
adhesion property of the thick photo resist for Au plating, and the moderate radiation
stability. In the X-ray lithography, contrast refers to absorption contrast, defined as the
ratio of the total dose at the bottom of the resist under the X-ray transparent membrane, to
the total dose below the X-ray absorber. Figure 2.3 plots the absorption contrast for the
3m Ti membrane mask for various PMMA thicknesses versus the Au absorber thickness,
calculated by dose simulation software from the Center for Advanced Microstructures
and Devices (CAMD), Louisiana State University; here the bottom dose was 2500J/cm3
with a 175m thick Beryllium window and a 9.5m thick Al filter.
An acceptable contrast for a process with PMMA combined with a G-G developer
is known to be above 40 to produce good lithographic patterns [Desta et al, 2003]. In this
work, 8m thick Au was chosen to obtain contrasts of 71. The maximum contrast was
compromised by limitations on the maximum thickness of SPR 220-7 (a positive tone
photo resist from Shipley, Inc. patterned for Au plating on the 3 m Ti membrane) that
can produce good vertical profiles. The detailed process conditions for the lithography of
SPR 220-7 is explained in the next section.
23
24
Figure 2.4 SEM image of patterned 13m thick SPR: (a) overall image of bearings,
(b) near perfect vertical sidewall
25
2-(2-Butoxyethoxy)ethanol
DI water
800mL
200mL
(2.1a)
2H+ + 2e H2
(2.1b)
(2.2a)
(2.2b)
Anode reaction
O2
OH -
H2
H+
2e
Ni 2+
2e
Ni 2+
Ni
Ni
Anode
NH2SO3 -
Cathode
(substrate
nickel sulfide residue on the Ni anode surfaces, and the residues should be retained in a
polyprophylene anode bag to prevent contamination on the electroplated Ni surface, as
shown in Figure 2.8. The nickle sulfide also removes unwanted copper impurities from
the plating solution.
Table 2.4 shows the chemical composition of the nickel sulfamate solution and
the process conditions. To adjust the pH, diluted sulfamic acid (H3NO3S) was used for
pH>4 and diluted sodium hydroxide (NaOH) was used for pH<3.5. Small amount of
sodium lauryl sulfate was added as a wetting agent (surfactant) to reduce the surface
tension of the Ni sulfamate solution and to permit it to penetrate into small
microstructures.
Faradays Law for the Ni plating is expressed by the following equation [Bari,
1994]:
m=
c M
ne F
It
(2.3)
28
If the total area to be electroplated is A(cm2) and the thickness is d(m), Equation
(2.3) becomes
d=
c M
J t.
ne F
(2.4)
Here is the density of Ni (=8.9g/cm3) and J is the current density in mA/cm2. Plugging
the values into equation (2.4) gives
t=
ne F
d
d = 2,925.871
c JM
c J
(2.5)
Assuming c =1, the total time to electroplate 300m thick Ni is about 24 hours
(~0.2m/min). Because the current density is not uniform at the edges of the structures as
sown in Figure 2.9, the patterned PMMA structure was over plated for 30 hours and
polished down to 300m (Figure 2.2b) for subsequent processes to form the thrust
bearing.
Table 2.4 Chemical composition of Ni sulfamate solution and the process conditions
Component
Nickle sulfamate(Ni(NH2SO3)2)
50% aqueous solution
Sodium Lauryl Sulfate
Boric Acid (H3BO3)
DI water
pH
Temperature
Current density
29
Seed
layer
Plating
mold
Figure 2.9 Non uniform current density at the edge of patterned plating mold cause
non uniform deposit thickness [Judy, 1996]
Important factors, easily overseen in Ni electroplating, are hydrogen evolution in
a cathode (3~5% of total current), and nucleation of air bubbles on a PMMA surface,
when cathode is immersed in electroplating bath. Because electroplating is very fast
process, small air or hydrogen bubbles are easily trapped and form a micro scale cavity
after electroplating is finished. Figure 2.10 is a high magnification SEM image of bearing
surface with cavity formed by air bubble nucleated right after substrate was immersed in
a plating bath. Increasing wetting agent or fast stirring of electroplating solution can
remove air or hydrogen bubble effectively.
Figure 2.10 High magnification SEM image of bearing sidewall: cavity formed by
air bubbles attached to PMMM
30
used to etch the final 3m recesses. The widely used sulfuric acid based etchant TFG
from the same company reacted with the Ni surface to form presumably black nickel
sulfide, preventing further etching.
RMS values were below 20nm. The surface profiles do not show the noticeable
orientation that is typical in X-ray lithography patterns using graphite mask [Coane,
2000], which means very smooth circumferential profiles of the Au absorber in the
fabricated Ti membrane X-ray mask.
Figure 2.11 SEM images of bearing surface after different sacrificial layer
etching time: (a) After 2 days release ( 2K), (b) After 2 weeks release ( 2K)
Figure 2.12 Higher magnification of Figure 2.11: (a) After 2 days release (
10K), (b) After 2 weeks release ( 10K)
33
Figure 2.14 Surface morphology of bearing surface measured from AFM (scan
length 10m10m) and SEM: (a) AFM topography, (b) High magnification SEM
images
34
Chapter 3
Static Performance of Micro Gas Bearing
In the Chapter 3, Reynolds Equations for gas journal and thrust bearings, based on
Molecular Gas Lubrication (MGL) theory, are introduced. Numerical analyses results on
static performance and rotational friction factor of the micro gas journal and thrust
bearings are presented.
3.1 Theory
Figure 3.1 shows a schematic diagram of the micro gas journal bearing in the
normal operating conditions with eccentricity e of the journal center from the bearing
center. In the figure, is the rotational speed of the journal, and is the circumferential
coordinate with the same direction as . C is the radial clearance between the bearing and
journal. is the attitude angle of the journal, which is the angle between the direction of
load capacity F and eccentricity e.
Upon rotation of the journal shaft, the gas between two surfaces of a gas bearing
is pressurized by the squeeze film effect. This generates a hydrodynamic force, lifting the
journal immediately after the initial slip. At steady state, there is no contact between the
two surfaces, and friction approaches zero.
The governing equation for a gas journal bearing was derived from the general
Navier Stokes equation, with the assumptions of a thin gas film, negligible curvature
effect, and ideal gas under isothermal equilibrium. Here the local gas film thickness h is
much smaller than the bearing length L and diameter D. The result, Reynolds Equation
for gas film pressure p, was derived using a no slip boundary condition of gas at the
bearing surfaces [Cameron, 1966].
35
( ph 3 ) + ( ph 3 ) = 6U
( ph ) + 12 ( ph )
x
x
z
z
x
t
(3.1)
In the foregoing, x is the direction of linear speed U (=D/2), z is the direction of side
flow, and is the viscosity of the lubricating gas. The ideal gas law was used to include
the compressible flow effect to change a density to pressure.
Y
C(1+)
y
e
C(1-)
F = FX i X + FY i Y
R T
2d 2 N A p
(3.2)
The concept of gas kinetic theory was first introduced to a rarefied gas film by
Burgdorfer [Burgdorfer, 1959]. He adopted Maxwells wall slip analysis [Kennard, 1938]
7
The mean free path is defined as the average distance that a molecule travels between successive
collisions.
36
and modified the Poiseuille flow component, using a slip flow velocity boundary
condition for a small Knudsen number (Kn << 1). He assumed the slip is proportional to
the velocity gradient dv0 / dz at the wall. Then the slip velocity us at the wall can be
written as
us = a
dv0
dz
(3.3)
2
a
a = 2c
(3.4)
Here, c is an adjustable parameter with values between 0.491 and 0.499 (such that very
nearly 2c 1).
The surface accommodation coefficient of the wall is the energy transfer ratio
defined by Knudsen [Kennard, 1938] as
Ei E r
Ei E w
(3.5)
[Kennard, 1938; Rettner, 1997]. Maxwell [Kennard 1938] assumed a fraction of the
incident molecules were reflected diffusively with =1, and the rest were reflected with
=0. With Maxwells assumptions, the total reflected energy will be Er=Ew+(1-)Ei .
Since from Equation (3.5), and are governed by the same equation, the
accommodation coefficient represents the fraction of diffusive reflection.
From experiments [Rettner, 1997; Gabis et al, 1996] on the hard disk surfaces,
various real engineering surfaces have =0.9 -0.95. In this work, the accommodation
coefficients at both walls are assumed to be 1.
Taking account of the wall slip effect, the Reynolds Equation was modified as
[Burgdorfer, 1959]
p
( ph 3 (1 + 6a ) ) + ( ph 3 (1 + 6a ) )
x
z
h x
h z
= 6U
( ph ) + 12 ( ph )
x
t
(3.6)
Fukui and Kaneko [Fukui and Kaneko, 1988] derived a Molecular Gas
Lubrication (MGL) model based on the linearized Boltzmann Equation8, to account for
the molecular slip effect in Poiseuille flow. They rigorously derived a Poiseuille flow
factor QP , defined as the ratio of the real Poiseuille flow rate QP in rarefied gas regions
to the continuum flow rate Qcon . They created the numerical tabulation of the database
for the flow rate coefficient Q P . Kang [Kang, 1997] improved the database by correcting
Q P at very small Kn numbers and by taking into account of the different accommodation
coefficients at both wall boundaries. One of the key assumptions on the MGL model
from the linearized Bolzmann Equation is that the bulk flow speed is much smaller than
the molecular speed at a given temperature. In this case, the velocity distribution function
of the gas flow within the bearing clearance can be assumed to be almost the same as that
of isotropic equilibrium [Kang, 1997]. Therefore, when bulk flow velocity ( sliding
38
speed U of the journal) is comparable to the molecular speed at a given temperature; that
is, as the Mach number is approaches 1, MGL model fails to predict the correct pressure
profile, and direct molecular dynamic simulation or Direct Simulation Monte Carlo
(DSMC) should be used [Alexander, 1994] to calculate the direct momentum change
(pressure) at the wall.
(Q P PH 3
)+
(Q P PH 3
)=
( PH ) +
( PH )
(3.7)
where,
P = p / pa
(3.8a)
= x/R
(3.8b)
Z = z/R
(3.8c)
H = h/C
(3.8d)
=t
(3.8e)
= e/C
(3.8f)
6 R
=
pa C
39
(3.9a)
12 R
pa C
(3.9b)
= 1
QP
= 1 + 6a
QP
f (Kn; )
(3.10a)
H = C R / C + 1 X cos Y sin
(3.10b)
for a bearing surface without steps and with steps, respectively. Using Equation (3.8), the
Knudsen number Kn can be represented as follows
Kn =
RT
2d N A ph
2
RT
2d N A p a PCH
2
0
CPH
Kn a
PH
(3.11)
where 0 ( 64nm) is a mean free path at atmospheric pressure and 20oC, and Kna is
defined as the characteristic Knudsen number, which is the ratio of 0 to the bearing
clearance C.
Once the pressure field P(, Z) is obtained, the load carrying capacities FX and FY
and the dimensionless load parameters X and Y along X and Y directions become
F X = p a R 2 02 0L / R P ( , Z ) cos d dZ
FY = p a R 2
L/R
P ( , Z ) sin d dZ
40
(3.12a)
(3.12b)
X =
FX
2 p a RL
(3.12c)
Y =
FY
2 p a RL
(3.12d)
The load parameters X and Y are defined as a load capacity normalized with respect to
the projection area of the bearing multiplied by the ambient pressure. The total bearing
load parameter becomes
= X 2 +Y2
(3.13)
The attitude angle is the angle between the external load vector and the
eccentricity vector (see Figure 3.1), and is given by
cos =
e ( F )
=
e F
FX
2
FX + FY
X2 +Y2
(3.14)
The friction by air drag at the journal shaft can be calculated from the shear stress.
For fully diffusive reflection at both walls, the local velocity distribution function from
[Burgdorfer, 1959] in the x direction (Figure 3.1) becomes
u=
1 dp 2
U ( y + )
y ( y + )h +
2 dx
h + 2
(3.15)
xy =
u
y
p + c = W p p ,con + Wc c ,con
y=h
41
(3.16)
Here, p is the shear stress by Poiseuille flow, and c is the shear stress by Couette flow.
Wp and Wc are the shear stress factors for Poiseuille flow and Couette flow, respectively.
The subscript con refers to continuum flow. Using gas kinetic theory, Kang [Kang,
1997] derived and tabulated numerically Wc and Wp for an arbitrary Knudsen number and
accommodation coefficients at both walls. Kang [Kang, 1997] showed that Wp is unity
when both walls have identical accommodation coefficients. The Couette shear stress
factor for a fully diffusive wall becomes
Wc =
h
1
PH
=
=
h + 2 1 + 2 Kn PH + 2 Kna
(3.17)
Figure 3.2 compares the numerical tabulation Wc by Kang with that by the first
order slip model in Equation (3.17). The maximum error is about 10% at very high Kn
numbers. In this work, Equation (3.17) was used instead of the exact numerical tabulation
in Figure 4.2 to calculate the friction at the journal surface.
The friction torque by air drag becomes
2
TF = R 0 0 xy dA =R 0 0 ( p + Wc c ) R d dz
U
2 L h dp
) R d dz
= R 0 0 (
+ Wc
2 dx
h
L
42
(3.18)
Figure 3.2 Comparison of shear stress factor by Couette flow for fully diffusive
walls; database from Kang [Kang, 1997] and first order slip model
Representing Equation (3.18) with non-dimensional parameters defined in
Equation (3.8), gives
2 L / R
0
0
TF =
Cp a R 2
dP Wc UR 3
d dZ
H
+
2
d
H
C
(3.19)
By arranging terms, the non-dimensional rotational friction factor J for the journal
bearing becomes
J =
CTF
dP Wc
3
= 02 0L / R H
+
d dZ
4
R
d H
(3.20)
m& r =
h 3 p
12 r
43
(3.21a)
m& =
h 3 p U h
+
12 r
2
(3.21b)
Inserting the mass flux into the continuity equation and adopting the ideal gas law gives
1 ph 3 p 1
r
+
r r 12 r r
ph 3 p U ( ph) ( ph)
=
+
t
2 r
12 r
(3.22)
r
h
and H =
R
C
(3.23)
yields
P
PH 3
+
P
PH 3
( PH )
=
(3.24)
Here r and the gas film thickness h of thrust bearing was non-dimensionalized using
radius R of the journal bearing and the journal bearing clearance C to get the same
bearing number for the same rotational speed.
Taking gas rarefaction effects into consideration, Equation (3.24) becomes
P
+
Q p PH 3
( PH )
P
=
Q p PH 3
(3.25)
Integration of the pressure distribution over the thrust bearing surface area gives the load
capacity fT and load parameter T as
f T = p a R 2 02 RRio//RR ( P( , ) 1) d d
44
(3.26a)
T =
fT
2
p a ( Ro Ri )
(3.26b)
where Ri and Ro are the inner and outer radii of the thrust bearings.
Rotational friction damping can be calculated the same way as for the journal
bearing. The flow velocity distribution in the direction considering first order slip
effects becomes
u =
1 p
r ( z + )
( z 2 ( z + )h) +
2 r
h + 2
(3.27)
z =
u h dp
r
=
+
p + Wc c
z
2 rd 2 + h
(3.28)
Integrating the shear stress over the thrust bearing surface, the total frictional torque
becomes
2
TFT = 0 Ri r z dA = 0 Ri r 2 ( p + Wc c ) d dr
r
h dp
2 Ro
) d dr
= 0 Ri r 2 (
+ Wc
2 rd
h
Ro
Ro
(3.29)
(3.30)
45
CTFT
dP Wc 3
2 Ro / R 3
d d
T =
H
=
+
d
H
R 4 0 Ri / R
(3.31)
J Q J = 2
( PH )
(3.32a)
(3.32b)
T QT = 0
, where
P
3 P
Q J = PH QP PH 3
i + QP PH
iZ
Z
P
P
i + Q p PH 3
i
Q T = PH Q p PH 3
Here, subscripts J and T denote journal and thrust bearing, respectively, and
i k (k = , Z , ) are unit vectors along the , Z, and directions. J and T are gradient
operators. Integrating Equation (3.32) over the control surface SP (shaded in Figure 3.3)
gives
S P J Q J dS P = S P 2
SP
( PH )dS P
T Q T dS P = 0
(3.33a)
(3.33b)
Applying the divergence theorem to the left-hand sides of Equation (3.33) gives
( PH ) dS P
l P Q J ndl P = S P 2
46
(3.34a)
lP
(3.34b)
Q T n dl P = 0
where n is a unit normal vector along line lP, surrounding the control surface SP.
i,j+1
QZ+
i,j+1/2
Z
i-1,j
i+1/2,j
i-1/2,j
i,j
Q
SP
lP
QS
i+1,j
Q+
QZ i,j-1/2
i,j-1
Figure3.4) of the first step was varied with respect to the journal eccentricity (R =25o, 15
o
bearing geometry was checked for different numbers of grid points, along the
circumferential (n) and axial (m) directions, for =1 and R =-15o. Table 1 shows the
variations of load parameter (Equation 3.13), and attitude angle (Equation 3.14) for
different grid schemes for =0.8 and =0.9, since numerical stability is more sensitive at
higher . Using the most dense grid, 33636, as a reference, variations of and for the
other grid schemes were within 2.3% for =0.8 and within 5.8% for =0.9. The grid
scheme 18036 was used in the foregoing analyses.
R
C(1+)
C(1-)
F = FX i X + FY i Y
9624
12032
18036
24036
30036
33636
=0.8 0.032952
0.033219
0.033228 0.033496
0.033339
0.033424
=0.9 0.057738
0.058588
0.058444 0.059867
0.059344
0.060052
=0.8
80.7489
80.4778
81.6499
79.9762
80.8017
79.8424
=0.9
78.025
77.0634
79.0161
75.2124
76.7797
74.7021
48
roughnesses of the shaft and the bearing, respectively, and h is the local film thickness,
should be larger than 4 for full hydrodynamic lubrication [Pirro, 2001]. Assuming that
the bearings and shafts are fabricated by the same processes (surface roughness with
49
50
Figure 3.7 Pressure profiles (=1, =0.4) of fabricated stepped gas bearing
A unique characteristic of stepped micro gas bearings is the variation of the
attitude angle and the load parameters with the relative position (R) of the journal
center and steps, when eccentricity is high. Figure 3.8 plots the load parameters and
attitude angles vs. the bearing number for eccentricity =0.8, with R as a curve
parameter. The attitude angles vary over a wide range from 67 o to 107 o, depending on
R, and the load parameters also change as a function of R. This implies that, for a given
external load (load parameter), the journal center can have more than one steady state
position with different eccentricities and attitude angles. However, for small
eccentricities, for example, <0.6, the load parameters and attitude angles were
almost independent of R, as shown in Figure 3.9. Also shown in Figure 3.9 is the
simulation at extreme eccentricity (=0.98, which may not be a feasible hydrodynamic
region of the fabricated micro gas bearings), where the load parameters showed large
variations depending on R and showed its maximum at 5<R<5 over a wide range of
bearing numbers.
Figure 3.10 is a circumferential pressure profile at the bearing center with attitude
angles for =0.8 and 0.98. At =0.98, the attitude angle was larger than 150o, due to
51
high negative pressure built at the diverging gas film due to the adjacent trailing step. In
this case, the load capacity F (bearing reaction) is directed as in Figure 3.11. It should be
noted that even if the bearing reaction is directed toward the rotor displacement due to
very large attitude angles, the bearings should not be regarded as statically unstable. In
these cases, the external load can be applied in the opposite direction of the bearing
reaction force. The application of the negative pressurized bearing can be found in a hard
disc slider, where the servo actuator lifts the slider arm and the slider is designed such
that negative pressure is built to maintain a very thin gas film at steady state. At the same
token, it is possible to operate the bearings with high attitude angles if the bearings are
dynamically stable.
52
53
25o
Figure 3.11 Direction of load capacity vector F for the conditions in Figure 3.10 with
=0.98, =0.2, and R= 25o. X = 0.0318 and Y = 0.0156
54
Figure 3.12 Load capacity as a function of step height for thrust bearings
Figure 3.13 Non-dimensional rotational friction of micro gas bearing (R =5o for
stepped journal bearings, step height 3m for thrust bearings)
55
Chapter 4
Dynamic Performance of Micro Gas Bearings
In this chapter, dynamic performance of the micro gas bearing is investigated.
Orbit method is employed to simulate a numerical test rig, and to investigate whirl
instability. Improved bearing profiles with higher load capacity and dynamic stability are
suggested. Fabrication methods of meso scale gas bearings are proposed. Performance
analyses of the meso scale gas bearings in terms of two-dimensional imbalance response
are presented.
4.1 Approach
We consider stability of micro gas bearings with an assumption of rigid rotor with
perfect alignment with the gas bearing along the axial direction. The equations of motion
for the journal shown in the Figure 4.1 are
&&X =
p a R 2 2 L / R
F
0 0 P ( , Z ) cos d dZ + eX
2
mC
pa R 2
&&Y =
p a R 2 2 L / R
F
0 0 P ( , Z ) sin d dZ + eY
2
mC
pa R 2
(4.1a)
(4.1b)
where m is rotor mass, Fe is the total external load ( Fe = ( FeX2 + FeY2 ) 0.5 ) including rotor
weight, and X and Y are X and Y components of non-dimensional eccentricity vector .
The integral terms represent the components of bearing reaction force F. At equilibrium
operating conditions, the external load Fe and bearing reaction F have the same
magnitude and opposite directions.
56
Fe
F = FX i X + FY i Y
Equation (Equation 3.7). The orbit method can accommodate molecular rarefaction effect
very easily because non-linear unsteady Reynolds Equation is solved at every time step.
Due to the high non-linearity of the Reynolds Equation, all the previous works
[Cheng and Pan, 1965; Castelli and Elrod, 1965; Han et al, 1994; Piekos and Breuer,
1999; San Andres and Wilde, 2000; Jang and Yoon, 2002; Pan et al, 2003; Hwang and
Ono, 2003] assumed continuum Poiseuille flow ( QP =1 in Equation 3.7). For the micro
gas bearings with sub micron bearing clearances, the molecular rarefaction effects cannot
be neglected and the perturbation method can not be used unless the Poiseuille flow
factor QP is expressed in a explicit function of pressure P and gas film thickness H.
Previous studies on the DRIE-processed micro gas bearings, using the orbit
method [Piekos and Breuer, 1999], didnt include molecular rarefaction effect because of
the relatively large bearing clearance (12-14m).
(4.2a)
& X = X 2 ,
(4.2b)
Y = X 3 ,
(4.2c)
&Y = X 4 ,
(4.2d)
then, the Equation (4.1) can be represented as four 1st order differential equations as:
X& 1 = X 2
pa R 2
&
X2 =
mC 2
(4.3a)
2 L / R
F
0 0 P ( , Z ) cos d dZ + eX 2
pa R
X& 3 = X 4
(4.3b)
(4.3c)
58
p R2
X& 4 = a 2
mC
2 L / R
F
0 0 P ( , Z ) sin d dZ + eY 2
pa R
(4.3d)
Xi
n +1
= Xi +
t
n
n 1
n2
n 3
n4
(1901 f i 2774 f i + 2616 f i 1274 f i + 251 f i )
720
(4.4)
integrated equations (4.3). First five state variables in time domain were obtained by 4th
order Runge Kutta method. The advantage of Adams-Bashforth scheme over Runge
Kutta method is single evaluation of function at each time step instead of four
evaluations.
m C
* crit ,
Fe
(4.5)
was used to predict the onset of whirl instability, where mcrit is the maximum allowable
rotor mass for stable operation, and external load Fe has the same magnitude but opposite
direction with bearing reaction force at steady state for given operating conditions (, ),
see Figure 4.1.
The procedure of stability analyses are as follows: 1) Interested operating point (, or
The current definition of threshold speed should be distinguished from rotor critical speed, where damped
rotor vibration is maximized before reaching the threshold speed.
59
calculated and external load Fe, in opposite direction to the bearing reaction force F, is
applied numerically, to establish static equilibrium; 2) Select test rotor mass m and give
very small step displacement (perturbation) from the steady state position; 3) Perform
orbit simulation, to check whether the disturbed rotor comes back to the steady state
position (the rotor is stable) or diverges (rotor is unstable); 3) Repeat the procedure
increasing the test rotor mass m until rotor becomes unstable; 4) Upon detection of rotor
instability, the test rotor mass m becomes critical rotor mass mcrit and *, the threshold
speed, can be calculated from equation (4.5). In early stages of gas bearing research
[Cheng and Pan, 1965; Castelli and Elrod, 1965], * was accepted as a general indicator
of gas bearing performance. The advantage of using * instead of critical rotor mass mcrit
is that * can be also decided by varying , with fixed rotor mass m because* is a nondimensional number. In actual gas bearing systems, rotor mass is usually fixed and rotor
dynamics over wide speed ranges are more of interest. Disadvantage of using * comes
when plotting * versus (or equivalently ), because rotational speed appears at
both axes.
To test the orbit program, journal center was initially positioned at the origin
under external load corresponding to eccentricity (0.6,0) and convergence of journal orbit
to the steady state position (0.6,0) was followed as in Figure 4.2. The stability analyses of
stepped bearings were performed for R=0o, and external load Fe was oriented such that
the journal was initially on the X-axis. For plain bearings, external load was directed
along Y and initial journal location was obtained for successive disturbance and orbit
simulation. A step displacement of 0.0005 (0.05%) of the steady state eccentricity was
applied, and the corresponding journal orbits were obtained. Figure. 4.3 shows exemplary
diverging orbits of plain and stepped bearings with whirl frequency 0.465 and 0.341
respectively. Figure 4.4 shows converging orbits for stepped bearing.
10
Note = 6
pa
R and proportional to
C
60
Figure 4.2 Converging orbit from origin (stepped gas journal bearing, =0.6,
0=0.6, *=0.4, C=1m)
61
(a) Plain bearing, =1, *=1.6, 0=0.6 (b) Stepped bearing, =3, *=2.7, 0=0.8
Figure 4.3 Diverging orbits Plain bearing:
(a) =1, *=1.6, 0=0.6, (b) Stepped bearing, =3, *=2.7, 0=0.8
Figure 4.4 Converging orbit (stepped gas journal bearing, =2, *=1.5, 0=0.8)
62
63
considered phenomena that minimize average pressure inside the bearing. The average
pressure at (0.694,0.547) was lower than at (0.8,0). Figure 4.9 and Figure 4.10 shows the
pressure profiles for the two locations. These stabilizing motions were negligible for >
2 with =0.8 (Figure 3b), or < 0.8 with all (Figure 4.4), due to smaller variation of
load capacities as discussed earlier.
Another interesting phenomena of step bearings are the initiation of self-sustained
confined orbit shown in Figure 4.11, when rotor is perturbed at equilibrium points for
certain operating conditions (=0.8 and 1). These self-sustained vibrations did not
64
progress to halffrequency whirl and did not converge to an equilibrium point either
within 50 cycles. It seems there are certain range of * below actual threshold speed (, at
which orbit begin to diverge,) for these self-sustained vibration to persist.
For stepped bearings with =0.8 and 1, the data points in Figure 4.6 should be
understood as quasi-stable positions that transit to more stable journal positions
minimizing average pressure inside the bearings or that maintain self-sustained confined
vibration.
external load
Figure 4.8 Motion of journal to (X,Y) =(0.694,0.547) from origin for static loading
corresponding to (X0,Y0)=(0.8,0) with =0.6, *=0.9. The angle between external
load and eccentricity vector is attitude angle
65
Figure 4.11 Self sustained vibration by perturbation, 50 cycles, =0.8, =1, *=1.7,
stepped gas journal bearing
66
m p C
*
m* crit a2 =
.
72 L R
(4.6)
Once * is calculated for specific operating conditions (for given and (or Fe)), m*
can be calculated from equation (4.6) and is directly proportional to mcrit , maximum
allowable rotor mass.
Assuming steel, the rotor mass m for L=300m, and D=500m is 0.46mg, which
corresponds to m* =5.7510-3 from Equation (4.6). Stability charts with m* vs. are
plotted in Figure 4.12 and 4.13 for plain and stepped bearings respectively. The dashed
horizontal line marks the minimum mass that the rotor can have, if composed of steel
with the required geometry. The region under the dashed line pertains to a very small
mass, and is not a physically feasible operating condition for a steel rotor.
Fabricated stepped bearings without axial grooves have significantly lower m*
than plain bearings. From Figure 4.5 and 4.6, * ranges 0.6~4 for plain gas journal
bearings, and 0.3~2 for stepped gas journal bearings. Assuming * is the same order of
magnitude for plain and stepped gas journal bearings for a given , the corresponding
threshold rotor mass m is proportional to load carrying capacities from Equation (4.5).
11
2
From definitions of load parameter (3.12) and bearing number (3.9), Fe = 2 p a RL , = p a C .
6 R
Plugging these into equation (4.5) and taking square at both sides,
*2
2 p a C
36 2 R
mcrit
2 p a L
mcrit p a
=
2
72 L
5
2
m p C
2 , where
C
m* crit a2
= m*
72 L R
67
Stepped micro gas journal bearings have significantly lower load carrying capacities, see
Figure 3.5 and Figure 3.6. Initially, 2m step was formed to lower load capacity and
allow the bearing to run with high eccentricity. However, due to small load capacities, the
fabricated stepped gas journal bearings show significantly lower threshold rotor mass
than plain micro gas journal bearings.
Figure 4.12 Stability chart of plain gas journal bearing given as non-dimensional
threshold speed m*
Figure 4.13 Stability chart of stepped gas journal bearing given as non-dimensional
threshold speed m*
68
Micro turbines and engines are designed to be operating at over 1 million rpm
[Frechette et al, 2001b; Epstein et al, 1997] to generate useful power. =10 corresponds
to about 1.3 million rpm. Even if inertia effects are very small, micro gas bearing systems
are highly unstable at high , and require very high eccentricities for stability. Equivalent
rotor mass is the sum of the actual mass plus an additional mass that renders an inertial
load equivalent to the static load capacity. Calculated equivalent rotor mass, assuming
external load is applied only by rotor weight, is much bigger than the threshold rotor
mass (m or m*) even for plain gas journal bearings. This implies significant external load
is needed for the rotor with such a small threshold mass to obtain the necessary
eccentricities and thus stability.
Figure 4.14 Axial grooves formed at the beginning of every step. Axial grooves
supply gas with ambient pressure to minimize high negative pressure and decrease
attitude angles
69
The second approach was the variation of the number of steps, step height, and
S/P without adopting axial grooves, where S is the angle one step occupies, and P is
2 divided by the number of steps as shown in the following figure.
70
(a) =1
(b) =10
Figure 4.15 Static performance for stepped gas journal bearings with axial grooves
(R= 0o): (a) =1, (b) =10
71
Figure 4.16 Load parameter and attitude angle of six-stepped bearings without
axial grooves for various step configurations (R=0o, =0.6, and =1)
Figure 4.17 Load parameter and attitude angle of four-stepped bearings without
axial grooves for various step configurations for (R=0o, =0.6, and =1)
72
Table 4.1. * and m* for stepped bearing with axial grooves (S/P =0.5, R=0o)
Step height 2m
=0.6
=0.7
=0.8
=0.5
1.7
2.1
11
*=1.7
0.03869
0.08722
4.09752
m*=0.02778
=1
(2.52)
(2.39)
(41.2)
(3.02)
1.5
1.5
1.5
1.6
0.00247
0.00320
0.00416
0.00636
=10
(0.68)
(0.75)
(0.80)
(0.90)
=1
=10
=0.5
1.4
0.03451
(3.75)
1.5
0.00461
(1.27)
Step height 1m
=0.6
=0.7
1.6
2.1
0.06140
0.14960
(3.99)
(4.10)
1.4
1.35
0.00532
0.00657
(1.25)
(1.26)
=0.8
10
5.36439
(53.93)
1.5
0.01113
(1.58)
Table 4.2. * and m* for different S/P, the number of steps (R=0o, =0.6, =1)
S/P =0.333
S/P =0.5
S/P =0.667
74
Figure 4.18 Orbit for 50 cycles for four stepped bearing without axial grooves,
S/P =0.333, =1, =0.6, step height 2m, and *=6 (m*=1.5022, m=0.12g)
Whirl instability is often understood as resonance phenomena between journal
motion and circumferential gas flow, at low eccentricity and high attitude angle. From the
orbit simulations for various step geometries, and calculation of circumferential flow
speed, threshold mass was dependent on the load capacity, attitude angle, and how
effectively circumferential gas flow is blocked. For six-stepped bearings, load capacities
are significantly lower than the plain bearings, due to small bearing land area to build
effective hydrodynamic pressure. By adopting axial grooves, attitude angles became
much smaller at low eccentricities, rendering low cross stiffness and improved stability,
even if load capacities did not increase. Four-stepped bearings had much higher load
capacities than six-stepped bearings, permitting higher stability. However, for the fourstepped bearings with 1m steps, higher attitude angles (even if load capacities were a
little higher) than the bearings with 2m steps (Figure 4.17), and insufficient step height
to block the circumferential gas flow effectively (presumably) as 2m steps, led to lower
threshold mass than the bearings with 2m steps.
75
S=30o and R=0o. Both figures have clearance C=1m. With axial grooves, the bearings
with 1m step showed lower attitude angle than those with 2m step. Without axial
grooves, the bearings with 2m step showed smaller attitude angles as shown in the
Figure 4.17. Figure 4.21 shows pressure profile at the bearing center. Unlike the pressure
profile of six stepped bearing without axial grooves (shown in Figure 3.7), more direct
stiffness and stability can be expected.
Orbit simulation was performed for the bearings with the geometry of Figure
4.19, for =0.5 and 0.6. Figures 4.22 to 4.25 display orbits for various operating
conditions. Figure 4.22 with =1, =0.6 has converging orbits with chaotic motion, when
* is very large (> 15). Notice the different orbits for the different step heights. As * is
increased to 40 (see Figure 4.23) with other conditions as in Figure 4.22(b), the orbit
shows chaotic motion without converging or diverging, even after 400 simulated cycles.
76
77
Figure 4.21 Pressure profiles (=1, =0.4) of four-stepped micro gas bearings
with axial grooves
In Figure 24 (with =5, =0.6, *=5, and step height 1m), the orbit diverges
initially (by perturbation) but finally becomes a self-sustained stable orbit. This is true for
2.4<*<8.5, however, for *>8.5, the orbit diverges continuously and becomes unstable
with whirling motion. The magnitude of vibration in the self-sustained stable orbit
increased as * increased within its stable range. For both step heights (1m and 2m),
there was a range of * that initiated the self-sustained stable orbit for =0.5 and 0.6.
When eccentricity was increased to 0.8, with the same bearing number (=5), journal
orbit became chaotic (Figure 4.25), instead of a self-sustained finite orbit. The chaotic
characteristics increased as * varied from 1 to 20. The chaotic motions along the Y
direction were confined within the same range, and only the amplitude of vibration along
the X-direction increased as * increased (see Figures 4.25). However, the journal orbits
did not diverge.
The exact boundaries of eccentricity and bearing number , which initiate selfsustained stable orbit or chaotic motions, are not clear from the limited number of orbit
78
simulations performed here. Because the ranges of chaotic motions are extremely small
(~10-3), all orbits were assumed stable because half-frequency whirl was never
observed in the simulations.
Instead of full threshold mass for all operating conditions, threshold speed and
rotor mass at =0.5 and =0.6, for =1 and =5, were calculated in Table 4.3. Compared
to Table 4.1 and 4.2, the four-stepped bearings with axial grooves appear to be much
more stable than other stepped bearings.
Table 4.3 Threshold speed12 * and rotor mass m* for four-stepped gas bearings
with axial grooves C=1m, step height=1m, S/P =0.333 (S =30o)
=1
=0.5
=0.6
12
13
Step 1m
* =3.0
m* =0.2793
>1513
>10.3495
Step 2m
2.0
0.1048
>15
>8.8486
79
=5
Step 1m
Step 2m
3.5
2.4
0.0767
0.0278
8.5
3.6
0.6408
0.0892
80
Figure 4.23 Orbit for 400 cycles of four-stepped gas bearings with axial
grooves, =1, =0.6, step height 2m, and *=40. Very slow chaotic motion initiates
and does not converge or diverge
81
82
can be transferred to the final parts. These parts are identical within the resolution of the
X-ray mask. The accuracy of pattern transfer from the optical mask to the X-ray mask
depends on process conditions.
The fabrication processes of the meso scale gas bearings are based on stacking
several identical parts, made by X-ray lithography. Due to the in-plane lithographic
technique process, there is no limit on the diameter of the bearings. Figure 4.26
conceptually depicts a meso scale gas bearing of 2mm length, with step geometry shown
in Figure 4.19, made by stacking or fusion bonding of 500 m thick four identical
bearings. Both end faces have spiral grooves, to serve as thrust bearings. The spiral
grooves14 can be easily formed by single optical lithography and etching process on the
electroplated part.
Figure 4.26 Conceptual figure of meso scale gas bearing with spiral grooved
thrust bearings, D=L=2mm
The spiral grooved thrust bearings have a seal region, which was not described in the Figure 4.25, before
the spiral grooves reach journal bearing.
85
has rotational speed ranging from 30,000 rpm to 50,000 rpm, for Laser printer and photo
printer applications. Another application of Laser scanner is an optical low coherence
reflectometry (OLCR) [Szydlo et al, 1998], an imaging technique, for various science and
engineering field including biological, medical, material growth, optoelectronics, etc.
OLCR consists of a broadband light source and a coherent cross correlation light
detector. Measurements must be performed rapidly, to capture or freeze motion of
moving or live objects. Increasing image acquisition rate and light scanning speed are
crucial. Szydlo et al [Szydlo et al, 1998] demonstrated an air turbine driven gold plated
cubic mirror with rotational speed of 427,000 rpm, equivalent to a scan repetition rate of
28.5kHz. Heshmat [Heshmat, 2003] reported stable operation of mesoscopic turbine
simulator, at 700,000 rpm, using miniature foil gas bearings, made via conventional
precision machining.
Figure 4.27 depicts suggested configuration of Laser scanner, with hydrodynamic
gas bearing suggested in Figure 4.26. The simulation parameters, including dimensions,
are shown in Table 4.4. The rotor mass and moments of inertia were calculated from
solid models and material densities. The origin of the simulations coordinate system was
the center of the gas bearing.
To meet high demand for bigger information storage capacity, performance
requirements of hard disc drive (HDD) spindle bearings became more stringent. For
20Gb/in2 HDD, tracks per inch (TPI) is 50000, which requires a non-repeatable run out
(NRRO) of 30nm[Hwang and Ono, 2003]. For 10Gb/in2 HDD, the maximum allowed
NRRO is 0.5m [Hwang and Ono, 2003]. Figure 4.28 depicts an HDD spindle rotor
consisting of two discs, two clamps, a permanent magnet rotor, and two spacers. Included
in Table 4.5 are the rotor mass and moments of inertia, calculated from solid models and
the material densities. Simulated gas bearing has diameter and length of 6mm and
rotational speed was fixed at 15,000 rpm.
86
z (Z)
Scanner
Mirror
y (Y)
Bearing unit
Motor
x (X)
(b) Rotor
Figure 4.27 Laser scanner: (a) Assembled unit, (b) Rotor. The X-Y-Z is a fixed
reference frame and x-y-z is a rotational coordinate attached to rotor center
Disc
Permanent
magnet
Clamp
Shaft
z (Z)
x (X)
Spacer
Clamp
Figure 4.28 HDD spindle rotor: The X-Y-Z is a fixed reference frame and x-y-z is a
rotational coordinate attached to rotor center. y(Y) axis is into the plane
87
0.3g
0.1m
1.05x10-9 kgm2
8.97x10-10 kgm2
2mm
2mm
1m
100,000-1,000,000rpm
20oC
1.79x10-5 Ns/m2
64nm
57.3g
4m
2.18x10-5 kgm2
4.25x10-5 kgm2
6mm
6mm
1m
15,000 rpm
50oC
1.92x10-5 Ns/m2
70nm
88
&&X =
pa R 2
mC 2
2 L / R
mg + ma 2 cos
0 0 P ( , Z ) cos d dZ +
pa R 2
&&Y =
pa R 2
mC 2
2 L / R
ma 2 sin
0 0 P ( , Z ) sin d dZ +
pa R 2
(4.7a)
(4.7b)
eccentricity e) with angular rotational speed & x and & y along the x- and y-axis,
respectively. X-Y-Z is a fixed reference frame with origin at the bearing center and x-y-z
is a rotational coordinate attached to the rotor center. The moment due to imbalance force
becomes
M u = z u ma 2 sin i + z u ma 2 cos j
(4.8)
where zu locates the imbalance mass along the z direction. i and j are unit vectors along
the x and y direction, respectively.
y
Y
& y
Figure 4.29 Rotor with angular rotation and eccentricity: The X-Y-Z is a
fixed reference frame with origin at the center of bearing and x-y-z is a rotational
coordinate attached to rotor center.
89
When there are instantaneous rotational speeds & x and & y , the angular momentum
vector G and instantaneous angular rotation vector of the rotor with the spin speed ,
become
G = I xx & x i + I yy & y j + I zz k
(4.9)
= & x i + & y j + k
(4.10)
respectively. The relation between the change of angular momentum and the total
external moment M due to the imbalance force and bearing reaction force, becomes
dG
=M
dt
(4.11)
By inserting equation (4.9) into equation (4.11), incorporating equation (4.10), the
equations describing the conical motion of the spinning rotor can be derived as,
I xx &&x I yy & y + I zz & y = M iux + M ux
(4.12a)
(4.12b)
where Miux and Miuy are reaction moment from gas bearings calculated via integration of
moment by dynamics pressure. Note equation (4.12) pertains to the rotating coordinate
systems x-y-z, attached to the rotor. The equation should be referenced to the fixed X-Y-Z
coordinate.
The relation between instantaneous rotational speed about x-y-z coordinate and XY-Z coordinate becomes, from [Nelson, 1976]
& x
& = [T ] &
y
X
& Y
or & X = [T ]1
& Y
90
& x
&
y
(4.13a)
sin Y
[T ] = cos Y sin X
cos Y cos X
1
0
0
cos X
sin X
(4.13b)
where is rotation speed of rotor with respect to fixed X-Y-Z coordinate. Using relation
(4.13), equation (4.12) becomes
2
(4.14a)
(4.14b)
L / 2R
Now external moment M uX and M uY are for fixed reference frame X-Y-Z, attached to
bearings, and bearing reaction moments are expressed as integration terms of pressure
field at the bearing surfaces. Due to the gyroscopic effect of the spinning rotor,
& X and & Y generate moments along Y- and X- directions in addition to those by the
imbalance force and bearing reaction force. Non-dimensionalizing equation (4.14) using
and = t,
R
&& X =
&&Y =
2 L / 2 R
M uX
0 L / 2 R ZP ( , Z ) sin d dZ +
pa R 3
(4.15a)
2 L / 2 R
M uY
0 L / 2 R ZP ( , Z ) cos d dZ +
pa R 3
(4.15b)
p R4
I zz
& Y + a 2
I xx
I xx C
p R4
I zz
& X + a 2
I yy
I yy C
Here, dot means derivative with respective to . Equation (4.15) with equation (4.7), can
simulate complete 3-D imbalance responses. In a strict sense, the imbalance forces, in
equation (4.7), should be transformed to those with respect to the fixed bearing
coordinates X-Y-Z. However due to very small bearing clearance, compared to bearing
radius or length, the numerical error is negligible.
91
+ Z sin
H = 1 X + Y
+ Z cos Y X
2R
2R
(4.16)
The small imbalance was chosen to excite an imbalance force, which is within the limit of load capacity
of the bearing when rotor passes through the first critical speed.
92
around 660,000 rpm, half-frequency whirling initiated, indicating the bearings maximum
allowable speed. Figure 4.34 shows trace of misalignment angles from initial disturbance
at 860,000 rpm.
From the dynamic analyses, the meso scale gas bearings had adequate load capacities
and dynamic stabilities, over wide operating ranges.
(b)
(a)
(a)
(b)
93
Figure 4.32 Rotor orbits of Laser scanner rotor, 30 cycles; (a) 100,000rpm (b)
200,000 rpm (c) 300,000 rpm (d) 400,000rpm (e) 440,000rpm (f) 500,000 rpm (g)
600,000 rpm (h) 700,000 rpm (i) 800,000 rpm (j) 860,000 rpm
95
Figure 4.33 Frequency spectrum of Laser scanner rotor orbit; (a) 640,000 rpm (b)
660,000 rpm (c) 700,000 rpm (d) 800,000 rpm
Figure 4.34 Trace of misalignment of Laser scanner rotor at 860,000 rpm from
initial misalignment
96
Chapter 5
Testing of Micro Gas Bearing
In this chapter, test results are presented, and technical issues involved in the test
are discussed.
97
External load
Reaction
Figure 5.2 Macro scale gas bearing tester [Wilde and Andres, 2003]
98
Figure 5.3 Meso scale turbo jet simulator supported by foil gas bearings
[Heshmat, 2003]
The macro or meso scale gas bearing test rig could use an electric motor or an
impulse turbine as a drive, supplying direct torque to the rotor. In general, a gas bearing
tester should be very similar to the actual system, where the gas bearings will be used.
Drives for high-speed spindles or turbo compressor, which use gas bearings, should be
engineered very carefully, to match the embedded gas bearings. The static and dynamic
stability analyses in previous chapters give a sanity check for basic performance,
including maximum load and allowable rotor mass that a specific bearing can support.
Two identical circular nozzles with 0.3mm diameter drove the turbine at offset locations
to cancel radial force16 and deliver only torque. Capacitance sensor with 25nm resolution
from MTi, inc., which is the smallest commercially available sensor, measured vibrations
of the test bearing (not on rotor shaft), because direct measurement of shaft vibrations
was not possible due to very small size of the shaft.
The first criterion of successful operation at gas bearing mode, was near zero
vibration signal from the bearings, because once the rotor took off, the vibration of the
bearing would nearly vanish. The second criterion was SEM image of tested bearing. In a
gas bearing mode, the bearing surface should be almost free of scratch. To identify
scratch easily after the test, uncoated bearings were used.
Due to the uncertainty of air jet forces from nozzles and the imbalance force,
precise quantification of the total external load was not possible.
16
Eliminating radial load could lead to instability because rotor eccentricity could be very small with only
rotor weight.
100
Capacitance sensor
Nozzle
Nozzle
Nozzle
(c) Capacitance sensor and drive shaft with press-fitted SU-8 turbine
Figure 5.4 Photo of gas bearing tester with open air jet; (a) Description of gas
bearing tester (b) Photo of assembled gas bearing tester (c) Capacitance sensor and
drive shaft with press-fitted SU-8 turbine
101
(a)
(b)
(c)
(d)
(e)
Figure 5.5 Assembly procedures of micro gas bearings; (a) Pre-assembly (b)
Photo resist dispensing (c) Soft baking (d) Anchoring to base (e) Release
Figure 5.6 Photonic sensor signal measuring rotor speeds; (a) Supply pressure
35psi (b) Supply pressure 50psi
To investigate the very low speed, a simple turbine model was developed. From
Figure 5.7, using control volume method, torque by air jet becomes
17
Because the photonic sensor had much larger diameter than width of single turbine blade, the photonic
sensor measured averaged oscillating signal with frequency of rotating speed of turbine, which is not
perfectly symmetrical.
102
T jet = eff r j a a n (u j r j )
(5.1)
where eff is an overall turbine efficiency considering all geometric factors of nozzle and
turbine blades, a is an air density, an is nozzle area, uj is air jet speed, rj is the radius of
air jet action, and is a rotational speed of the turbine. Windage friction torque is
Tw N b a Ab (r j ) 2 r j
(5.2)
where is a windage loss factor, Nb is number of blade, Ab is blade area. When =1, all
the air in front of each blade is assumed stationary and windage loss is maximum.
aanuj
rj
Tb1 + Tb 2 = Fb R = R eff a a n (u j r j ) + 2 WR R
2
(5.3)
T jet = Tw + Tb1 + Tb 2
(5.4)
2
2
eff ( R r j ) m
eff ( R r j ) + 12
Ab
r j
an
eff ( R r j ) m 2 +
+
eff ( R r j ) + 12
2 WR R
a an r j 2
Ab
r j
an
=0
(5.5a)
or
1 +
=
2 WR R
A
eff ( R rj ) + 12 b rj (r R ) 2 a r
m
a n j
an
eff j
eff ( R rj )m
(5.5b)
1
12 Ab rj
12Ab
+
+
rj eff an (rj R ) eff an (rj R )
where m = u j / r j . Equation (5.5) was plotted for a dental drill turbine (for given speed
400,000 rpm@ 35 psi, assuming air jet speed 200 m/s), as a function of friction
coefficient of the bearing, as shown in Figure 5.8. From given speed information, turbine
efficiency eff and windage loss factor were estimated as 0.6 and 0.1, respectively.
Surprisingly, turbine speed is almost independent of bearing friction 18 until bearing
friction reaches 0.2~0.3 (typical friction coefficients of low friction coatings). From the
figure, turbine speed is a strong function of windage loss and turbine efficiency, and a
very weak function of bearing friction.
With, eff =0.6 and =0.1, the speed of SU-8 micro turbines was estimated to
be around 900,000 rpm. However, as shown in Figure 5.6, measured turbine speed was
far below the expected speed. Even under choked conditions of the nozzles, the turbine
speed did not reach over 20,000 rpm. In an open air jet configuration without properly
designed shroud, negative pressure at trailing edge of the turbine generated presumably
18
However, it should be noted that thermal heat generation is directly proportional to friction coefficient,
and bearing performance deteriorates very quickly at dry friction region if adequate cooling is not available
in actual rotating machinery
104
high negative pressure, rendering windage loss factor >> 1 and turbine efficiency eff
<<1, and prevented the turbine from rotating fast.
19
Note the stepped gas bearings in this section are fabricated six stepped gas bearing without axial grooves
105
106
Figure 5.10 SEM images after operation for 1 hour with repeated start/stops
every 5 to 10 minutes
Tables 5.1 and 5.2 show simulated load capacities and threshold rotor masses of
plain and stepped micro gas bearings at low speed ranges. The table predicts the plain gas
bearing to be stable with 2.3mg rotor, if operated at eccentricity above 0.5. From the
simulated results and visual inspection of the tested gas journal bearings, the plain micro
gas journal bearings appeared to have been operated at gas bearing mode. When two
nozzles are used (to minimize radial force to the bearings), bearing load becomes ideally
zero, leading to low eccentricity and high vulnerability of instability, from basic gas
bearing theory. However, from the test, the plain gas bearing was considered to be stable.
Possible reasons include remnant imbalance force of the SU-8 micro turbine or
unbalanced air jet force (probably due to different air jet speeds of two nozzles, slightly
different distance of nozzle center from bearing center, etc).
To improve turbine performance, a simple shroud was machined as in Figure 5.11.
The radius of the shroud was 1.7mm, rendering about 50m clearance between the
turbine blades and shroud housing. Only one nozzle was used to preload bearings. One
side was an air input and the other side was connected to vacuum. The arrow in Figure
5.11(b) indicates the direction of air jet flow through the shroud. Top of the turbine was
not covered with shroud to measure the speed and bearing vibration. Supply pressure was
35 psi, identical to the pressure at previous tests, with air jet speeds of 223.7m/s. Air jet
107
speed was measured by strain gauge signals attached to a slender cantilever20, onto which
air jet momentum was directly applied. With the simple shroud, turbine speed increased
to 60,000 rpm as in Figure 5.12, indicating that the open air jet caused very poor turbine
performance, preventing fast rotation.
Table 5.1 Load capacity and threshold rotor mass of plain micro gas bearings
8
.
0
=
7
.
0
=
6
.
0
=
5
.
0
=
e=0.5
e=0.6
e=0.7
e=0.8
5,266
9.8
19.9
62.4
175.6
4.3
6.0
8.3
12.2
7,899
10.1
20.9
65.6
180.2
6.5
9.0
12.5
18.4
10,532
10.5
22.1
70.5
190.3
8.8
12.0
16.8
24.5
13,165
11.2
23.2
77.3
200.5
11.0
15.1
21.0
30.7
26,329
12.3
25.7
81.1
214.5
22.6
31.1
43.7
65.0
Table 5.2 Load capacity and threshold rotor mass of stepped micro gas bearings
8
.
0
=
7
.
0
=
6
.
0
=
5
.
0
=
8
.
0
=
7
.
0
=
RPM
5,266
0.28
0.58
1.6
3.3
0.6
0.8
1.2
1.8
7,899
0.3
0.62
1.8
3.7
0.9
1.3
1.8
2.8
10,532
0.35
0.75
1.9
4.2
1.3
1.7
2.5
3.8
13,165
0.38
0.82
4.5
1.6
2.2
3.1
4.8
26,329
0.4
0.9
2.1
4.7
3.3
4.5
6.4
10.2
20
6
.
0
=
5
.
0
=
For the cantilever, 2.4mm wide, 0.2mm thick, 45mm long stainless steel sheet was used.
108
(a) Shroud
From the turbine model, equations (5.1) to (5.5), preload by single air jet was
estimated as 7.4mg in horizontal direction. Using combined load of rotor mass and the
preload, orbit simulation were performed with imbalance radius of 5m, as shown in
Figure 5.13. The imbalance radius was estimated from the accuracy (5m) of stepper,
which fabricated the mask pattern for the SU-8 turbine. As seen from the orbit simulation,
tested plain gas bearing was predicted stable. The SEM image of bearing surface, shown
in Figure 5.14, after test for 1 hour with frequent start/stops every 5 to 10 minutes,
confirms the gas bearing operation. Slight scratch during the start/stops was observed on
the bearing surface.
Figure 5.12 Photonic sensor signal measuring rotor speeds with new gas bearing
tester shown in Figure 5.11, supply pressure 35psi, plain gas bearing
110
Figure 5.13 Simulated orbit of 2.3mg rotor supported by plain gas bearing at 60,000
rpm with combined load of rotor mass and preload (7.4mg)
Figure 5.14 SEM image of plain gas bearing surface after test with new test rig
shown in Figure 5.11
111
Chapter 6
Tribological Study of Micro Bearings
In this chapter, tribological characteristics of tungsten containing hydrocarbon
(W-C:H) coated micro sleeve bearings are discussed and compared with uncoated Ni
micro bearings.
6.1 Introduction
Micro gas bearings are ideal for micro rotating machinery. Nevertheless, wide
application of the micro gas bearings in micro systems is limited, due to the following
reasons: high rotational speed is required to ensure sufficient load capacity; aligning the
bearing with the rotor is difficult; extensive engineering is needed to design proper rotorbearing configuration, to guarantee stable operation; the gas bearings are vulnerable to
dust particles, and need a clean environment; and wear during repeated start-stop and/or
unexpected touch down onto bearing surface increases bearing clearance, leading to
smaller load capacity and changing bearing characteristics. Even with negligible friction
at normal operating conditions, initial high static friction can be problematic when the
actuator lacks enough power to overcome the static friction.
Dry friction bearings with very low friction and high wear resistance can be
alternatives to gas bearings, due to easy of use and assembly. As discussed in Chapter 1,
surface modification can reduce static friction and surface energies of sliding surfaces.
Nickel micro sleeve bearings, shown in Figure 6.1 with nominal inner diameters
ranging from 500m to 506m, and length of 300m, were fabricated via the X-ray
lithography and electroplating processes introduced in Chapter 2. A uniform 900nm thick
W-C:H was coated on the bearing surfaces using an ICP assisted, hybrid CVD/PVD tool.
Mechanical properties of these coating were studied via nano indentation. Hydrocarbon
112
containing metal showed better adhesion [Meng, 2003] to metal surfaces than a-C:H, i.e.,
amorphous hydro carbon.
Very light loads usually characterize working conditions of MEMS surfaces.
Therefore, studies on tribological characteristics of MEMS surface employed AFM or
Surface Force Apparatus (SFA) to simulate a single asperity contact under very light load
[Lu and Komvopoulos, 2001; Schwarz et al, 1997; Enachescu et al, 1998]. Typical nano
tribological studies using AFM had contact load of 10~100N, sliding speed of ~m/s,
and tip radius of 20~100nm.
However, as discussed in detail in Chapter 1, tip radius, surface energy, and
scanning speed-dependent behavior of friction forces makes comparison of measured
nano scale friction coefficients, to friction coefficients measured by other methods,
difficult, especially if the test environment and tip radius are not known exactly, or the tip
is not perfectly spherical.
(a) Photograph of micro sleeve bearings (b) SEM image of Ni micro bearing
Figure 6.1 Ni micro bearing: (a) Photograph of micro sleeve bearings, (b)
SEM image of Ni micro bearings
Surfaces of micro mechanical systems possess multiple nano meter scales
asperities and follow fractal geometry characterized by self-affinity over a wide range of
length scales [Ling, 1990]. Even if the load is very small and the macroscopic contact
pressure is far below the elastic limit of the materials, some local asperities will
plastically deform because of concentrated loads on those spots. Wear can be induced,
113
even under extremely small load, which complicates investigation of frictional behavior
of actual MEMS surface, and makes estimating real friction from nano scale friction via
AFM difficult.
Despite promising tribological characteristics and proven performance of DLC in
macro scale applications, direct application to MEMS have been limited. Beerschwinger
et al [Beerschwinger et al, 1995] measured friction of DLC coatings on flat silicon
surfaces, via a surface micro machined small friction tester. Bandorf et al [Bandorf et al,
2003] showed that DLC on a soft polymer surface had better wear resistance than DLC
on silicon wafer. Mousinho et al [Mousinho et al, 2003] demonstrated microstructures
made with DLC film, deposited by RF magnetron sputtering. Cao et al [Cao et al, 2003]
coated Ti-containing DLC (Ti-C:H) on Ni micro mold insert, fabricated by X-ray
lithography and electroplating. However, applications of DLC coatings to the sidewall of
micro scale mechanical parts, that experience sliding contacts (bearings, gears, etc), have
not been reported.
Working surfaces of these micro bearings were characterized using a newly
designed micro tribo tester. Wear rates, mechanical and material properties, and other
tribological characteristics of W-C:H coated Ni micro bearings are presented and
compared to uncoated Ni micro bearings.
Electroplated Ni has unique sidewall characteristics and mechanical properties,
compared to bulk Ni, as shown in Figure 6.2. The yield stress and ultimate tensile
strength of a nickel sample, deposited via the identical process conditions as the Ni
bearings of this work, were 360MPa and 535MPa, respectively [Hemker et al, 2001; Cho
et al, 2003]. After annealing the electroplated Ni at 800oC for 1 hour, the yield stress and
ultimate tensile strength reduced to 180MPa and 200MPa, respectively [Hemker et al,
2001; Cho et al, 2003]. The microstructure of as-deposited Ni had a columnar grain
structure with 2~4m size, but the grain size increased to about 24m with an equitaxial
direction after annealing [Hemker et al, 2001; Cho et al, 2003].
Tribological characteristics of annealed Ni micro bearings are important because
of potential high temperature applications. Because the microstructures and mechanical
114
As-deposited
Annealed
800oC 1hr
115
plasma species
plasma species
(a) 1mm thick stainless steel sheet (b) Conformal coating process
with holes to hold micro bearings
of bearing surfaces
Figure 6.3 Fixture to coat W-C:H coatings on the micro bearings: (a) 1mm thick
stainless steel sheet with holes to hold micro bearings (b) Conformal coating process
of bearing surfaces
depositions. No intentional heating was applied to the bearing during the deposition.
Figure 6.4 is a photograph of W-C:H coated micro bearings
Table 6.1 Chemical composition and mechanical properties of 900nm thick W-C:H
coating
In-plane Youngs
Chemical
Coating
W
modulus
composition
Hardness H
name
current
(W/C ratio)
E/(1-2)
W-DLC1
11/89
0.15A
8.4 GPa
99 GPa
W-DLC2
5/95
0.1A
11 GPa
68 GPa
Figure 6.5 shows a Raman spectrum of a new W-C:H coating, measured with a
Renishaw Micro Raman Microscope with 784nm He-Cd Diode Laser source and input
power 30W. Exposure time was 30 sec, to maximize signal to noise ratio. The diamond to
117
graphite phase intensity ratios for the two coatings were almost identical at 1.17, because
the flow rate ratio of Ar/C2H2 was the same for the two coatings. The microstructure of
the coating appears to be amorphous from the Raman spectrum. The SEM photos of
Figure 6.6 suggest that uniform conformal coatings with thickness of about 900nm were
achieved by the coating method of Figure 6.3. The SEM image of W-DLC2 coated micro
bearing is shown in Figure 6.7.
Figure 6.6 900 nm thick uniform coating thickness on the bearing surface
118
appears to be the best way to assess the microscopic tribological characteristics (and
performance) of the micro bearings. A new micro tribo tester was developed to measure
friction and wear characteristics of the as-made, annealed and coated micro bearings
A miniature impulse turbine with 5mm diameter and 2mm thickness was
fabricated by stacking (on the same shaft) four separate 0.5mm thick electroplated Ni
turbines. SU-8 2100 from MicroChem, Inc., was a photo resist used for plating mold for
0.5mm thick Ni turbines. A micro nozzle with cross section of 0.2mm height and 1.8mm
width and pressurized air at 50 psi drove the turbine. A gauge pin of diameter 500m
(0.25m) composed of SAE 52100 bearing steel (1% C, 1.5% Cr, 0.1% Si) with surface
roughness Ra 50nm served as a driving shaft. Figure 6.8 shows the wear tester for the
micro bearings. The turbine was assembled onto the shaft using epoxy. Two micro
bearings (identical to the test bearings) supported the rotor. Air jetting from the nozzle
applied torque to the turbine. The air jetting also applied an external force to the bearings,
which was measured via the strain gauge attached at the bottom of the cantilever. A
photonic sensor measured the rotational speed stroboscopically.
Maximum Hertzian contact pressure Pmax between the bearing and shaft is given
by [Johnson, 1985]
Pmax
F K
= 0.488 e
Re L
Re =
RB RS
R
B
RB RS
C
0.5
(6.1a)
4 1 B2 1 S2
+
K =
ES
3 EB
(6.1b)
(6.1c)
Here L is the length of the bearing, RB and RS are radii of the bearing and shaft,
respectively, Re is equivalent radius, K is equivalent elastic modulus and C is the
clearance between the bearing and shaft.
Figure 6.9 shows the micro friction tester. An air driven dental drill drove a test
shaft. Two W-C:H coated micro bearings supported the test shaft, to permit ultra120
precision operation. The friction tester consisted of precision and non-precision parts. A
flexible rubber tube coupled the dental drill to the precision test shaft. The coupling
isolated radial vibrations from the dental drill. Moving the stage deflected the cantilever
(Figure 6.9a), which applied and controlled the external load to the test bearings. This
load was measured via a strain gauge attached to the cantilever. The bearing holder with
the test bearing was connected to the cantilever by a flexible cotton string (Figure 6.9b).
The configuration is similar to a macro scale pin-on disc machine. Here the circular steel
shaft and bearing, which replaced the pin and disc, simulated extremely small contact
stress.
Micro turbine
Air nozzle
Strain gauge
Cantilever sensor to
measure bearing
force directly
Test bearing
Moving stage
Capacitance
probe
String
Test
bearing
Micro
Bearing
Rubber
tube
Dental drill
turbine
Precision
Non-precision
Cantilever
Strain gauge
String
TF
Capacitance
probe to
measure
The kinetic friction coefficient k of the bearing surface can be calculated from
the static equilibrium (see Figure 6.9b) between friction torque TF and the restoring
torque TR from the external force T,
LT sin( + ) = T R = T F = k RT
(6.2)
Giving
k =
L sin( + )
R
(6.3)
In the foregoing, R is the radius of the test bearing (250m), and deflection angle of the
bearing from the vertical (Figure 6.9b) was calculated by measuring the displacement of
the end of the horizontal bar, attached to the bearing holder, via the capacitance probe.
The capacitance probe was calibrated with a micrometer, to compensate errors due to its
non-perpendicular facing with the horizontal bar. The angle (Figure 6.9b) was
calculated by trigonometry after was measured.
conditions of the wear tester for each test (i.e., location of nozzle relative to the turbine),
the load and speed were slightly different for each test.
The annealed Ni bearings had about three-fold higher wear rate than as-deposited
Ni bearings, likely due to smaller yield stress and ultimate tensile strength after
annealing.
Figure 6.10 and 6.11 show the bearing surfaces of as-deposited and annealed Ni
bearings after testing. The lower images magnify the enclosed rectangular frame. Worn
materials were transferred along the axial direction, by axial movements of the turbine
rotor within the clearances between the bearings and turbine. There materials
accumulated on the thrust surfaces. Electroplated Ni bearings were soft, and suffered
severe plastic deformation presumably due to high impacts of the turbine rotor on to the
bearing surface. Even if the initial bearing clearance was 1m, high impact load could be
expected because of looser clearances caused by rapid wear of the Ni bearings. Figure
6.12 shows SEM images of steel shafts, tested against the as-deposited and annealed Ni
bearings. Both shafts had slight scratching marks without any noticeable wear.
As-deposited
Ni bearing
Annealed
Ni bearing
Wear rate
(10-3 mm3/Nm)
Bearing load
(N)
Contact pressure
(MPa)
Speed
(RPM)
0.54~0.96
15500
5.8~29.1
8000~9000
1.25~2.98
17250
4.9~27.2
9000~12000
124
(a)
(b)
Figure 6.10 Wear characteristics of as-deposited Ni bearings: (a) Top view, worn
materials moved along the axial direction and accumulated at the thrust surface of
the bearing (b) Inner bearing surface after test
125
(a)
(b)
Figure 6.11 Wear characteristics of annealed (at 800oC for 1h) Ni bearings: (a)
Top view, worn materials moved along the axial direction and accumulated at the
thrust surface of the bearing as multiple layers (b) Inner bearing surface after test
(a)
(b)
Figure 6.12 SEM images of shaft tested against (a) As-deposited Ni bearing (b)
Annealed Ni bearings. No noticeable wear was observed
126
127
Wear rate
(10-5 mm3/Nm)
1.11~1.43
0.75~0.96
Bearing load
(N)
40461
44668
Contact pressure
(MPa)
Speed
(RPM)
6.84
6.27
3400~10910
3582~13000
(a)
(b)
Figure 6.14 SEM images of W-C:H coated micro bearing surfaces after wear test:
(a) W-DLC1 coated micro bearing (b) W-DLC2 coated micro bearing
128
Direct friction measurements of W-C:H coatings using the micro friction tester
shown in Figure 6.9, were not successful, due to large run outs of the test shaft,
transmitted from dental drill turbine despite flexible rubber coupling. Even very small
shaft vibrations caused severe stick slip and rotational vibration of the bearing holder.
Instead, the turbine was stopped every three minutes and the test shaft was rotated
manually in both clockwise and counter clockwise directions, at slow speed (~5mm/s).
While the test shaft was rotating, deflection angle of the bearing holder was measured
via the displacement of the horizontal bar attached to the bearing holder. Figure 6.15 is an
exemplary signal from the capacitance sensor and converted deflection angle , in
degrees. Once and (from trigonometry, Figure 6.9) were measured, the friction
coefficient was calculated using equation (6.3).
Figure 6.16 shows the evolution over time of the friction coefficients of W-C:H
coated micro bearings. From a relatively high initial value, friction coefficient reached at
very low steady state value of about 0.12. Although failure of the rubber coupling
prevented friction measurement over longer periods, a low steady state friction is
suggested by the steady RPM (Figure 6.13), and the Raman spectrum of the wear scar on
the steel test shaft (Figure 6.17), where a transfer layer of W-C:H coating formed. Figure
6.18 is a SEM image of the steel shaft ran against the W-DLC2 coated micro bearing. No
noticeable wear was observed. The shaft tested against the W-DLC1 coated bearing
showed a similar pattern, with no noticeable wear on the shaft.
Low friction of amorphous hydrocarbon coatings at steady state is usually
initiated by a transfer layer formed on the counter surface at very high contact pressure
[Liu et al, 1996; Liu et al, 1997, Donnet et al, 1994; Koskinen et al, 1998]. Even if the
contact pressure is very small during the wear test of the W-C:H coated micro bearings, a
transfer layer formed on the counter surface, leading to low friction and high wear
resistance of both bearing and shaft.
129
Figure 6.15 Voltage signal from capacitance sensor and converted rotational
angle of horizontal bar attached to bearing holder with W-DLC1 coated bearing
130
Figure 6.17 Raman spectrum on the wear scar on the steel shaft tested with WDLC2 coated bearing
Figure 6.18 SEM images of shaft tested against W-DLC2 coated bearing after
2hour continuous wear test
131
132
Chapter 7
Future Work and Conclusions
In this chapter, future research related to this dissertation will be suggested, and
conclusions will be made.
21
133
134
(a)
(d)
(b)
(e)
(c)
(f)
Figure 7.2 Detail fabrication processes of hydrostatic meso scale gas bearings; (a)
SU-8 pattern with seed layer (b) PMMA bonding (c) X-ray lithography on PMMA
(d) Electroplating (e) Release (f) Final Part
135
(b) Stacking
Figure 7.4 Fabrication process of micro stamping mold for foil; (a) X-ray
lithography (b) Stacking (c) Solid micro stamping mold (d) Coated micro stamping
mold
137
Turbine
nozzle
Gas
bearing
Pump
housing
Figure 7.6 Auxiliary devices for gas bearing tester in Figure 6.3: (a) Radial impulse
turbine (b) Centrifugal pump
140
6. Hybrid CVD/PVD tools with a specially designed bearing holder was very
effective for achieving 900nm thick uniform conformal W-C:H coatings on the
micro bearings. New micro wear and friction testers were designed to characterize
bearing sidewalls directly. Tribological characteristics of as-made Ni micro
bearings, annealed Ni micro bearings, and W-C:H coated micro bearings, were
measured with the micro wear and friction tester. Chapter 6 investigated and
summarized tribological characteristics of Ni micro bearings and amorphous
tungsten hydrocarbon (W-C:H) coated micro bearings in dry friction mode, using
the micro wear and friction tester. Chemical and mechanical microstructures were
studied via X-ray Photoelectron Spectroscopy (XPS), Raman micro spectroscopy
and nano indentation. Wear rates, mechanical and material properties, and other
tribological characteristics of W-C:H coated Ni micro bearings were investigated
and compared to uncoated Ni micro bearings. Uncoated Ni micro bearings, as
deposited and annealed at 800oC, experienced severe wear and appeared
inadequate for tribological applications. Micro bearings with low tungstencontaining (5% wt) hydrocarbon had higher wear resistance than micro bearings
with high tungsten-containing (11% wt) hydrocarbon. During the wear test of the
W-C:H coated micro bearings, a transfer layer formed on the counter steel shaft
even under very small contact pressure, leading to low steady state friction and
high wear resistance.
142
Appendix A.
Discretization of the Gas Film Equation
Journal Bearings
i,j+1
QZ+
i,j+1/2
Z
i-1,j
i+1/2,j
i-1/2,j
Q
SP
i,j
lP
QS
i+1,j
Q+
QZ i,j-1/2
i,j-1
Q+ = PH QP PH 3
Z
i +1 / 2, j
= H i +1 / 2, j
Fi +1 / 2, j
Pi +1, j + Pi , j
2
Z QP PH 3
Pi +1, j Pi , j
i +1 / 2 , j
Fi +1 / 2, j
=
D i +1 / 2, j Pi +1, j +
+ D i +1 / 2, j
2
2
=
143
Pi , j
Z
(A.1a)
Q = PH QP PH 3
Z
i 1 / 2, j
= H i 1 / 2, j
Pi 1, j + Pi , j
2
Fi 1 / 2, j
Z QP PH 3
Pi , j Pi 1, j
i 1 / 2 , j
Fi 1 / 2, j
=
+ D i 1 / 2, j Pi 1, j +
D i 1 / 2, j
2
= D
Z
i , j +1 / 2
(P
i , j +1
= D
Z
i , j 1 / 2
Di, j = QP PH 3
i, j
term Fi , j = H i , j Z ,
(P
i, j
Pi , j
Pi , j +1 Pi , j
i , j +1 / 2
Pi , j Pi , j 1
i , j 1 / 2
term
along
Z
, and diffusion term along Z direction DiZ, j = QP PH 3
Squeeze term S P 2
(A.1c)
Pi , j 1 )
diffusion
Pi , j )
= QP PH 3
QZ = QP PH 3
Z i , j 1 / 2
convection
(A.1b)
= QP PH 3
QZ+ = QP PH 3
i , j +1 / 2
where
i, j
(A.1d)
direction,
.
Z
( PH )dS P
, (A.2)
( Pi , j H i , j ) AV
2Z
n 1
(Pi, j H i, j )AV (Pi, j H i, j )AV
2
Z
Qs = S P 2
where Pi ,nj1 is the pressure at time grid n-1. Subscript AV denotes the average value.
Applying continuity equation on the control volume in Figure A.1, gives
144
Q+ Q + QZ+ QZ + Qs = 0
(A.3)
(A.4)
where
a i +1, j =
Fi +1 / 2, j
Di+1 / 2, j
2
F
i +1 / 2, j
Fi 1 / 2, j
a i , j =
+ Di+1 / 2, j
Di1 / 2, j
2
2
2Z
(H i, j )AV
+ DiZ, j +1 / 2 + DiZ, j 1 / 2 +
Fi 1 / 2, j
a i 1, j =
Di1 / 2, j
2
a i , j +1 = DiZ, j +1 / 2
(A.5)
a i , j 1 = DiZ, j 1 / 2
bi , j =
2Z
(H i, j )nAV1 Pi,nj1
Using definition of Peclet number Pe [Patankar, 1980] for and Z direction, given as
Pei, j =
PeiZ, j =
Fi , j
Di, j
Fi , j
DiZ, j
145
(A.6a)
(A.6b)
a i +1, j
Pei+1 / 2, j
= Di +1 / 2, j 1
a i , j = a i +1, j a i 1, j a i , j +1 a i , j 1 + Fi +1 / 2, j Fi 1 / 2, j +
a i 1, j
a i , j +1
Pei1 / 2, j
= Di 1 / 2, j 1 +
= DiZ, j +1 / 2
2Z
(H i, j )AV
(A.7)
a i , j 1 = DiZ, j 1 / 2
bi , j =
2Z
(H i, j )nAV1 Pi,nj1
a neighber points
ai , j
ai +1, j + ai 1, j + ai , j +1 + a i , j 1
ai , j
146
a i , j = a i +1, j a i 1, j a i , j +1 a i , j 1
2Z
(H i, j )AV
+ Pei1 / s , j
+ max(0, Fi +1 / 2, j Fi 1 / 2, j ) +
[(
a i 1, j = Di1 / 2, j A Pei1 / s , j
(A.8)
a i , j +1 = DiZ, j +1 / 2
a i , j 1 = DiZ, j 1 / 2
bi , j = max(0, Fi +1 / 2, j + Fi 1 / 2, j ) P i , j +
)
5
2Z
(H i, j )nAV1 Pi,nj1
iteration.
Thrust Bearing
The same procedures adopted for the journal bearing are applied. Equation
(3.32b) is integrated over the control boundary lP, in Figure A.1, where Z is replaced to .
Q+ = PH QP PH 3
i +1 / 2, j
= H i +1 / 2, j i +1 / 2, j
=
Fi +1 / 2, j
(P
i +1, j
Pi +1, j + Pi , j
2
QP PH 3
Pi +1, j Pi , j
i +1 / 2 , j
i +1 / 2, j
+ Pi , j ) D i +1 / 2, j (Pi +1, j Pi , j )
2
Fi +1 / 2, j
=
D i +1 / 2, j
2
Pi +1, j + i +1 / 2, j + D i +1 / 2, j
2
147
Pi , j
(A.9a)
Q = PH QP PH 3
i 1 / 2, j
= H i 1 / 2, j i 1 / 2, j
=
Fi 1 / 2, j
(P
i 1, j
Pi 1, j + Pi , j
QP PH 3
Pi , j Pi 1, j
i 1 / 2 , j
i 1 / 2, j
(A.9b)
+ Pi , j ) D i 1 / 2, j (Pi , j Pi 1, j )
2
Fi 1 / 2, j
=
+ D i 1 / 2, j
2
Pi 1, j + i 1 / 2, j D i 1 / 2, j
2
Q+ = QP PH 3
= QP PH 3
i , j +1 / 2
Pi , j
Pi , j +1 Pi , j
i , j +1 / 2
= D i , j +1 / 2 (Pi , j +1 Pi , j )
(A.9c)
Q = QP PH 3
= QP PH 3
i , j 1 / 2
Pi , j Pi , j 1
i , j 1 / 2
= Di, j 1 / 2 (Pi , j Pi , j 1 )
(A.9d)
Q PH 3
Di, j = P
, and diffusion term along direction Di, j = QP PH 3
i , j
i, j
Following the same argument for journal bearings without source term,
a i , j Pi , j + a i +1, j Pi +1, j + + a i 1, j Pi 1, j + a i , j +1 Pi , j +1 + a i , j 1 Pi , j 1 bi , j = 0
(A.10)
with
a i , j = a i +1, j a i 1, j a i , j +1 a i , j 1 + max(0, Fi +1 / 2, j Fi 1 / 2, j )
[(
a i , j +1 = Di , j +1 / 2
a i , j 1 = Di, j 1 / 2
bi , j = max(0, Fi +1 / 2, j + Fi 1 / 2, j ) P i , j
148
(A.11)
Nomenclatures
Chapter 3
H
Bearing length
CT
Ri
Ro
Journal eccentricity
Pressure
pa
Atmospheric pressure
Angular velocity
Viscosity of gas
lo
Kn
Kna
NA
Abogadros number
us
Slip velocity
QP
Qcon
QP
Bearing number
Squeeze number
CR
Load capacity ( =
Load parameter ( = X + Y )
Attitude angle
p,con
c,con
Wp
Wc
xy
FX + FY )
2
150
TF
m& r
m&
FT
TFT
Gradient operators (k=J for journal bearing, k=T for thrust bearing)
ik
SP
Control surface
lP
hs
Chapter 4
Fe
2
2 0.5
Total external load ( Fe = ( FeX + FeY ) )
Xk
m*
x,y,z
Imbalance radius
Fu
Imbalance force
i, j
Mu
zu
Chapter 5
T jet
Tw
Windage loss
Tb
Fb
eff
Turbine efficiency
Density of air
an
Nb
Ab
uj
rj
152
WR
Chapter 6
E
Youngs modulus
Poisssons ratio
Hardness
Re
RB
Radius of bearing
RS
Radius of shaft
TF
Friction torque
TR
Restoring torque
External force
Appendix A
Q+
QZ+
QZ
Fi , j
Di, j
DiZ, j
Qs
Pe
Peclet number
154
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161
Vita
Daejong Kim was born in Puan, Korea, on December 02, 1969. He earned his Bachelor
of Science and Master of Science degree in Mechanical Design and Production
Engineering at the Seoul National University in 1991 and 1993, respectively. He entered
doctoral program in Mechanical Engineering at the University of Texas at Austin in
2000.
162