Patent Abstract:
The present invention is directed towards a method and system of controlling movement of a body coupled to an actuation system that features translating movement of the body in a plane extending by imparting angular motion in the actuation system with respect to two spaced-apart axes. Specifically, rotational motion is generated in two spaced-apart planes, one of which extending parallel to the plane in which the body translates. This facilitates proper orientation of body with respect to a surface spaced-apart therefrom.

Full Description:
BACKGROUND OF THE INVENTION  
       [0001]     The field of invention relates generally to orientation devices. More particularly, the present invention is directed to an orientation stage suited for use in imprint lithography and a method of utilizing the same.  
         [0002]     Micro-fabrication involves the fabrication of very small structures, e.g., having features on the order of micro-meters or smaller. One area in which micro-fabrication has had a sizeable impact is in the processing of integrated circuits. As the semiconductor processing industry continues to strive for larger production yields while increasing the circuits per unit area formed on a substrate, micro-fabrication becomes increasingly important. Micro-fabrication provides greater process control while allowing increased reduction of the minimum feature dimension of the structures formed. Other areas of development in which micro-fabrication has been employed include biotechnology, optical technology, mechanical systems and the like.  
         [0003]     An exemplary micro-fabrication technique is commonly referred to as imprint lithography and is described in detail in numerous publications, such as United States published patent applications 2004/0065976, entitled METHOD AND A MOLD TO ARRANGE FEATURES ON A SUBSTRATE TO REPLICATE FEATURES HAVING MINIMAL DIMENSIONAL VARIABILITY; 2004/0065252, entitled METHOD OF FORMING A LAYER ON A SUBSTRATE TO FACILITATE FABRICATION OF METROLOGY STANDARDS; 2004/0046271, entitled METHOD AND A MOLD TO ARRANGE FEATURES ON A SUBSTRATE TO REPLICATE FEATURES HAVING MINIMAL DIMENSIONAL VARIABILITY, all of which are assigned to the assignee of the present invention. An exemplary imprint lithography technique as shown in each of the aforementioned published patent applications includes formation of a relief pattern in a polymerizable layer and transferring the relief pattern into an underlying substrate, forming a relief image in the substrate. To that end, a template is employed to contact a formable liquid present on the substrate. The liquid is solidified forming a solidified layer that has a pattern recorded therein that is conforming to a shape of the surface of the template. The substrate and the solidified layer are then subjected to processes to transfer, into the substrate, a relief image that corresponds to the pattern in the solidified layer.  
         [0004]     It is desirable to properly align the template with the substrate so that proper orientation between the substrate and the template is obtained. To that end, an orientation stage is typically included with imprint lithography systems. An exemplary orientation device is shown in U.S. Pat. No. 6,696,220 to Bailey et al. The orientation stage facilitates calibrating and orientating the template about the substrate to be imprinted. The orientation stage comprises a top frame and a middle frame with guide shafts having sliders disposed therebetween. A housing having a base plate is coupled to the middle frame, wherein the sliders move about the guide shafts to provide vertical translation of a template coupled to the housing. A plurality of actuators are coupled between the base plate and a flexure ring, wherein the actuators may be controlled such that motion of the flexure ring is achieved, thus allowing for motion of the flexure ring in the vertical direction to control a gap defined between the template and a substrate.  
         [0005]     It is desired, therefore, to provide an improved orientation stage and method of utilizing the same.  
       SUMMARY OF THE INVENTION  
       [0006]     The present invention is directed towards a method and system of controlling movement of a body coupled to an actuation system that features translating movement of the body in a plane extending by imparting angular motion in the actuation system with respect to two spaced-apart axes. Specifically, rotational motion is generated in two spaced-apart planes, one of which extending parallel to the plane in which the body translates. This facilitates proper orientation of body with respect to a surface spaced-apart therefrom. These and other embodiments are discussed more fully below. 
     
    
     BRIEF DESCRIPTION OF THE DRAWINGS  
       [0007]      FIG. 1  is an exploded perspective view of an orientation stage showing a template chuck and a template in accordance with the present invention;  
         [0008]      FIG. 2  is perspective view of the orientation stage shown in  FIG. 1 ;  
         [0009]      FIG. 3  is an exploded perspective view of a passive compliant device included in the orientation stage shown in  FIG. 1  along with the template holder and the template in accordance with a first embodiment of the present invention;  
         [0010]      FIG. 4  is a detailed perspective view of the passive compliant device shown in  FIG. 3 ;  
         [0011]      FIG. 5  is a side view of the passive compliant, device shown in  FIG. 4 , showing detail of flexure joints included therewith;  
         [0012]      FIG. 6  is a side view of the passive compliant device shown in  FIG. 4 ;  
         [0013]      FIG. 7  is a side view of the compliant device, shown in  FIG. 6 , rotated 90 degrees;  
         [0014]      FIG. 8  is a side view of the compliant device, shown in  FIG. 6 , rotated 180 degrees;  
         [0015]      FIG. 9  is a side view of the compliant device, shown in  FIG. 6 , rotated 270 degrees; and  
         [0016]      FIG. 10  is a perspective view of a compliant device in accordance with an alternate embodiment of the present invention;  
         [0017]      FIG. 11  is a simplified elevation view of a the template, shown in  FIG. 1 , in superimposition with a substrate showing misalignment along one direction;  
         [0018]      FIG. 12  is a top down view of the template and substrate, shown in  FIG. 11 , showing misalignment along two transverse direction;  
         [0019]      FIG. 13 . is a top down view of the template and substrate, shown in  FIG. 11 , showing angular misalignment;  
         [0020]      FIG. 14  is a simplified elevation view of the template, shown in  FIG. 1 , in superimposition with a substrate showing angular misalignment;  
         [0021]      FIG. 15  is a simplified elevation view showing desired alignment between the template and substrate shown in  FIGS. 11, 12 ,  13  and  14 ;  
         [0022]      FIG. 16  is a detailed view of one embodiment of the template shown in  FIGS. 1, 3 ,  11 ,  12 ,  13 ,  14  and  15  in superimposition with a substrate; and  
         [0023]      FIG. 17  is a detailed view of the template shown in  FIG. 16  showing a desired spatial arrangement with respect to the substrate. 
     
    
     DETAILED DESCRIPTION OF THE INVENTION  
       [0024]     Referring to  FIG. 1 , an orientation stage  10  is shown having an inner frame  12  disposed proximate to an outer frame  14 , a flexure ring  16  and a compliant device  18 . Compliant device  18  is discussed more fully below. A template chuck  20  is coupled to orientation stage  10 , shown more clearly in  FIG. 2 . Specifically, template chuck  20  is coupled to compliant device  18 . Template chuck  20  is configured to support a template  22 , shown in  FIG. 1 . An exemplary template chuck is disclosed in United States patent publication No. 2004/0090611 entitled “Chuck System for Modulating Shapes of Substrate,” assigned to the assignee of the present invention and is incorporated by reference herein.  
         [0025]     Referring to  FIGS. 1 and 2 , inner frame  12  has a central throughway  24 , and outer frame  14  has a central opening  26  in superimposition with central throughway  24 . Flexure ring  16  has an annular shape, e.g. circular or elliptical and is coupled to inner frame  12  and outer frame  14  and lies outside of both central throughway  24  and central opening  26 . Specifically, flexure ring  16  is coupled to inner frame  12  at regions  28 ,  30 , and  32  and outer frame  14  at regions  34 ,  36 , and  38 . Region  34  is disposed between regions  28  and  30  and disposed equidistant therefrom; region  36  is disposed between regions  30  and  32  and disposed equidistant therefrom; and region  38  is disposed between regions  28  and  32  and disposed equidistant therefrom. In this manner, flexure ring  16  surrounds compliant device  18 , template chuck  20 , and template  22  and fixedly attaches inner frame  12  to outer frame  14 .  
         [0026]     Orientation stage  10  is configured to control movement of template  22  and place the same in a desired spatial relationship with respect to a reference surface (not shown). To that end, plurality of actuators  40 ,  42 , and  44  are connected between outer frame  14  and inner frame  12  so as to be spaced about orientation stage  10 . Each of actuators  40 ,  42 , and  44  has a first end  46  and a second end  48 . First end  46  of actuator  40  faces outer frame  14 , and second end  48  faces inner frame  12 . Actuators  40 ,  42 , and  44  tilt inner frame  12  with respect to outer frame  14  by facilitating translational motion of inner frame  12  along three axes Z 1 , Z 2 , and Z 3 . Orientation stage  10  may provide a range of motion of approximately ±1.2 mm about axes Z 1 , Z 2 , and Z 3 . In this fashion, actuators  40 ,  42 , and  44  cause inner frame  12  to impart angular motion to both compliant device  18  and, therefore, template  22  and template chuck  20 , angular motion about one or more of a plurality of axes T 1 , T 2  and T 3 . Specifically, by decreasing a distance between inner frame  12  and outer frame  14  along axes Z 2  and Z 3  and increasing a distance therebetween along axis Z 1 , angular motion about tilt axis T 2  occurs in a first direction. Increasing the distance between inner frame  12  and outer frame  14  along axes Z 2  and Z 3  and decreasing the distance therebetween along axis Z 1 , angular motion about tilt axis T 2  occurs in a second direction opposite to the first direction. In a similar manner angular movement about axis T 1  may occur by varying the distance between inner frame  12  and outer frame  14  by movement of inner frame  12  along axes Z 1  and Z 2  in the same direction and magnitude while moving of the inner frame  12  along axis Z 3  in a direction opposite and twice to the movement along axes Z 1  and Z 2 . Similarly, angular movement about axis T 3  may occur by varying the distance between inner frame  12  and outer frame  14  by movement of inner frame  12  along axes Z 1  and Z 3  in the same direction and magnitude while moving of inner frame  12  along axis Z 2  in direction opposite and twice to the movement along axes Z 1  and Z 3 . Actuators  40 ,  42 , and  44  may have a maximum operational force of ±200 N. Orientation stage  10  may provide a range of motion of approximately ±0.150 about axes T 1 , T 2 , and T 3 .  
         [0027]     Actuators  40 ,  42 , and  44  are selected to minimize mechanical parts and, therefore, minimize uneven mechanical compliance, as well as friction, which may cause particulates. Examples of actuators  40 ,  42 , and  44  include voice coil actuators, piezo actuators, and linear actuators. An exemplary embodiment for actuators  40 ,  42 , and  44  is available from BEI Technologies of Sylmar, Calif. under the trade name LA24-20-000A. Additionally, actuators  40 ,  42 , and  44  are coupled between inner frame  12  and outer frame  14  so as to be symmetrical disposed thereabout and lie outside of central throughway  24  and central opening  26 . With this configuration an unobstructed throughway between outer frame  14  to compliant device  18  is configured. Additionally, the symmetrical arrangement minimizes dynamic vibration and uneven thermal drift, thereby providing fine-motion correction of inner frame  12 .  
         [0028]     The combination of the inner frame  12 , outer frame  14 , flexure ring  16  and actuators  40 ,  42 , and  44  provides angular motion of compliant device  18  and, therefore, template chuck  20  and template  22  about tilt axes T 1 , T 2  and T 3 . It is desired, however, that translational motion be imparted to template  22  along axes that lie in a plane extending transversely, if not orthogonally, to axes Z 1 , Z 2 , and Z 3 . This is achieved by providing compliant device  18  with a functionality to impart angular motion upon template  22  about one or more of a plurality of compliance axes, shown as C 1  and C 2 , which are spaced-part from tilt axes T 1 , T 2  and T 3  and exist on the surface of the template when the template, the template chuck, and the compliant device are assembled.  
         [0029]     Referring to  FIGS. 3 and 4 , compliant device  18  includes a support body  50  and a floating body  52  that is coupled to the support body  50  vis-à-vis a plurality of flexure arms  54 ,  56 ,  58 , and  60 . Template chuck  20  is intended to be mounted to floating body  52  via conventional fastening means, and template  22  is retained by chuck using conventional methods.  
         [0030]     Each of flexure arms  54 ,  56 ,  58 , and  60  includes first and second sets of flexure joints  62 ,  64 ,  66 , and  68 . The first and second sets of flexure joints  62 ,  64 ,  66 , and  68  are discussed with respect to flexure arm  56  for ease of discussion, but this discussion applies equally to the sets of flexure joints associated with flexure arms  56 ,  58 , and  60 . Although it is not necessary, compliant device  18  is formed from a solid body, for example, stainless steel. As a result, support body  50 , floating body  52  and flexures arms  54 ,  56 ,  58 , and  60  are integrally formed, are rotationally coupled together vis-à-vis first and second sets of flexure joints  62 ,  64 ,  66 , and  68 . Support body  50  includes a centrally disposed throughway  70 . Floating body includes a centrally disposed aperture  72  that is in superimposition with throughway  70 . Each flexure arm  54 ,  56 ,  58 , and  60  includes opposed ends,  74  and  76 . End  74  of each flexure arms  54 ,  56 ,  58 , and  60  is connected to support body  50  through flexure joints  66  and  68 . End  74  lies outside of throughway  70 . End  76  of each flexure arm  54 ,  56 ,  58 , and  60  is connected to floating body  52  through flexure joints  62  and  64 . End  76  lies outside of aperture  72 .  
         [0031]     Referring to  FIGS. 4 and 5 , each of joints  62 ,  64 ,  66 , and  68  are formed by reducing material from device  18  proximate to ends  74  and  76 , i.e., at an interface either of support body  50  or floating body  52  and one of flexure arms  54 ,  56 ,  58 , and  60 . To that end, flexure joints  62 ,  64 ,  66 , and  68  are formed by machining, laser cutting or other suitable processing of device  18 . Specifically, joints  62 ,  64 ,  66 , and  68  are formed from a flexure member  78  having two opposing surfaces  80  and  82 . Each of surfaces  80  and  82  includes a hiatus  84  and  86 . Hiatus  84  is positioned facing away from hiatus  86 , and hiatus  86  faces away from hiatus  84 . Extending from hiatus  86 , away from surface  80  is a gap  88 , terminating in an opening in a periphery of flexure arm  56 . Joint  68  is also formed from a flexure member  90  having two opposing surfaces  92  and  94 . Each of surfaces  92  and  94  includes a hiatus  96  and  98 , respectively. Hiatus  98  is positioned facing surface  92 , and hiatus  98  faces away from surface  94 . Extending from hiatus  98 , away from surface  92  is a gap  100 , and extending from hiatus  98  is a gap  102 . The spacing S 1 , S 2  and S 3  of gaps  88 ,  100 , and  102 , respectively define a range of motion over which relative movement between either of support body  50  and floating body  52  may occur.  
         [0032]     Referring to  FIGS. 3 and 5 , flexure member  78  associated with joints  62  of flexure arms  56  and  58  facilitates rotation about axis  136 , and flexure member  78  associated with joints  66  of flexure arms  56  and  58  facilitates rotation about axis  138 . Flexure member  78  associated with joints  62  of flexure arms  54  and  60  facilitates rotation about axis  108 , and flexure member  78  associated with joints  66  of flexure arms  54  and  60  facilitates rotation about axis  110 . Flexure member  78  associated with joints  64  of flexure arms  54  and  56  facilitates rotation about axis  112 , and flexure member  90  associated with joints  68  of flexure arms  54  and  56  facilitates rotation about axis  114 . Flexure member  78  associated with joints  64  of flexure arms  58  and  60  facilitates rotation about axis  116 , and flexure member  90  associated with joints  68  of flexure arms  58  and  60  facilitates rotation about axis  118 .  
         [0033]     As a result, each flexure arm  54 ,  56 ,  58 , and  60  is located at a region of said device  18  where groups of the axes of rotation overlap. For example, end  74  of flexure arm  54  is located where axes  72  and  76  overlap and end  76  is positioned where axes  74  and  78  overlap. End  74  of flexure arm  56  is located where axes  68  and  76  overlap, and end  76  is positioned where axes  70  and  78  overlap. End  74  of flexure arm  58  is located where axes  68  and  80  overlap, and end  76  is located where axes  70  and  82  overlap. Similarly, end  74  of flexure arm  60  is located where axes  72  and  80  overlap, and end  76  is located where  82  and  74  overlap.  
         [0034]     As a result of this configuration, each flexure arm  54 ,  56 ,  58 , and  60  is coupled to provide relative rotational movement with respect to support body  50  and floating body  52  about two groups of overlapping axes with a first group extending transversely to the remaining group. This provides each of flexure arms  54 ,  56 ,  58 , and  60  with movement about two groups of orthogonal axes while minimizing the footprint of the same. Device  18  may provide a tilting motion range of approximately ±0.040, an active tilting motion range of approximately +0.020, and an active theta motion range of approximately ±0.00050 above the above mentioned axes. Furthermore, having the reduced footprint of each flexure arm  54 ,  56 ,  58 , and  60  allows leaving a void  120  between throughway  70  and aperture  72  unobstructed by flexure arms  54 ,  56 ,  58 , and  60 . This makes device  18  suited for use with an imprint lithography system, discussed more fully below.  
         [0035]     Referring to  FIGS. 4, 6  and  7 , the present configuration of flexure arms  54 ,  56 ,  58 , and  60  with respect to support body  50  and floating body  52  facilitates parallel transfer of loads in device  18 . For example, were a load force imparted upon support body  50 , each flexures arms  54 ,  56 ,  58 , and  60  imparts an substantially equal amount of force F 1  upon floating body  52 . Among other things, this facilitates obtaining a desired structural stiffness with device  18  when load with either a force F 1  or a force F 2 . To that end, joints are 62, 64, 66, and 68 are revolute joints which minimize movement, in all directions, between the flexure are and either support body  50  or floating body  52  excepting rotational movement. Specifically, joints  62 ,  64 ,  66 , and  68  minimize translational movement between flexure arms  54 ,  56 ,  58 , and  60 , support body  50  and floating body  52 , while facilitating rotational movement about axes  104 ,  106 ,  108 ,  110 ,  112 ,  114 ,  116 , and  118 .  
         [0036]     Referring to  FIGS. 4, 5 ,  6 , and  7 , the relative position of axes  104 ,  106 ,  108 , and  110  provides floating body  52  with a first remote of compliance (RCC) at a position  122  spaced apart from floating body  52 , centered with respect to aperture  72  and equidistant from each axis  104 ,  106 ,  108 , and  110 . Similarly, the relative position of axes  112 ,  114 ,  116 , and  118  provides floating body  52  with a second RCC substantially close to position  122  and desirably located at position  122 . Each axis  112 ,  114 ,  116 , and  118  is positioned equidistant from position  122 . Each axis of the group of axes  104 ,  106 ,  108 , and  110  extends parallel to the remaining axes  104 ,  106 ,  108 , and  110  of the group. Similarly, each axis of the group of axes  104 ,  106 ,  108 , and  110  extends parallel to the remaining axes  104 ,  106 ,  108 , and  110  of the group and orthogonally to each axis  104 ,  106 ,  108 , and  110 . Axis  110  is spaced-apart from axis  108  along a first direction a distance d 1  and along a second orthogonal direction a distance d 2 . Axis  104  is spaced-apart from axis  106  along the first direction a distance d 3  and along the second direction a distance d 4 . Axis  112  is spaced-apart from axis  114  along a third direction, that is orthogonal to both the first and second directions a distance d 5  and along the second direction a distance d 6 . Axis  116  is spaced-apart from axis  118  along the second direction a distance d 7  and along the third direction a distance d 8 . Distances d 1 , d 4 , d 6  and d 7  are substantially equal. Distances d 2 , d 3 , d 5  and d 8  are substantially equal.  
         [0037]     Two sets of transversely extending axes may be in substantially close proximity such that RCC  122  may be considered to lie upon an intersection thereat by appropriately establishing distances d 1 -d 8 . A first set of includes four axes is shown as  124 ,  126 ,  128 , and  130 . Joints  62  and  66  of flexure arm  54  lie along axis  124 , and joints  62  and  66  of flexure arm  54  lie along axis  126 . Joints  62  and  66  of flexure arm  58  lie along axis  128 , and joints  62  and  66  of flexure arm  60  lie along axis  130 . A second set of four axes is shown as  132 ,  134 ,  136 , and  138 . Joints  64  and  68  of flexure arm  56  lie along axis  132 , and joints  64  and  68  of flexure arm  58  lie along axis  134 . Joints  64  and  68  of flexure arm  60  lie along axis  136 , and joints  64  and  68  of flexure arm  54  lie along axis  138 . With this configuration movement of floating body  52 , with respect to RCC  122 , about any one of the set of axes  124 ,  126 ,  128 ,  130 ,  132 ,  134 ,  136 , and  138  is decoupled from movement about the remaining axes  124 ,  126 ,  128 ,  130 ,  132 ,  134 ,  136 , and  138 . This provides a gimbal-like movement of floating body  52  with respect to RCC  122 . With the structural stiffness to resist, if not prevent, translational movement of floating body with respect to axis  124 ,  126 ,  128 ,  130 ,  132 ,  134 ,  136 , and  138 .  
         [0038]     Referring to  FIGS. 4 and 10 , in accordance with an alternate embodiment of the present invention, device  18  may be provided with active compliance functionality shown with device  18 . To that end, a plurality of lever arms  140 ,  142 ,  146 , and  148  are coupled to floating body  52  and extend toward support body  50  terminating proximate to a piston of an actuator. As shown lever arm  140  has one end positioned proximate to the piston of actuator  150 , lever arm  142  has one end positioned proximate to the piston of actuator  152 , lever arm  146  has one end positioned proximate to the piston of actuator  154  and one end of actuator arm  118  is positioned proximate to the piston of actuator  156  that is coupled thereto. By activating the proper sets of actuators  150 ,  152 ,  154 , and  156 , angular positioning of the relative position of floating body  52  with respect to support body  50  may be achieved. An exemplary embodiment for actuators  150 ,  152 ,  154 , and  156  is available from BEI Technologies of Sylmar, Calif. under the trade name LA10-12-027A.  
         [0039]     To provide rotational movement of floating body  52  with respect to support body  50  actuators  150 ,  152 ,  154 , and  156  may be activated. For example, actuator  150  may be activated to move lever arm  140  along the F 1  direction and actuator  154  would be operated to move lever arm  146  in a direction opposite to the direction lever arm  140  moves. Similarly, at least one of actuators  152  and  156  are activated to move lever arms  142  and  148  respectively. Assuming both actuators  152  and  156  are activated, then each of lever arms  140 ,  142 ,  146 , and  148  are moved toward one of flexure arms  54 ,  56 ,  58 , and  60  that differs from the flexure arm  54 ,  56 ,  58 , and  60  toward which the remaining lever arms  140 ,  142 ,  146 , and  148  move. An example may include moving lever arm  140  toward flexure arm  54 , lever arm  142  toward flexure arm  56 , lever arm  146  toward flexure arm  58  and lever arm  142  toward flexure arm  60 . This would impart rotational movement about the F 3  direction. It should be understood, however, each of lever arms  140 ,  142 ,  146 , and  148  may be moved in the opposite direction. Were it desired to prevent translational displacement between support body  50  and floating body  52  along the F 3  direction while imparting rotational movement thereabout, then each of lever arms  140 ,  142 ,  146 , and  148  would be moved the same magnitude. However, were it desired to impart rotational movement of floating body  52  about the F 1  and F 2  directions, this may be achieved in various manners.  
         [0040]     Since rotational movement of floating body  52  is guided by the first and second RCCs, floating body  52  can be actively adjusted for two independent angular configuration with respect to support body by translation along the F 3  direction. For example, moving each of lever arms  140 ,  142 ,  146 , and  148  with actuators  150 ,  152 ,  154 , and  156 , respectively, differing amounts would impart translation of floating body  52  along the F 3  direction while imparting angular displacement about the F 3  direction. Additionally, moving only three lever arms  140 ,  142 ,  146 , and  148  would also impart translation motion about the F 3  direction while imparting angular displacement about the F 3  direction. Were it desired to provide impart translational motion between support body  50  and floating body  52  without impart rotational movement therebetween, two of actuators  150 ,  152 ,  154 , and  156  would be activated to move two of lever arms  140 ,  142 ,  146 , and  148 . In one example, two opposing lever arms, such as for example,  140  and  146 , or  142  and  148  would be moved in the same direction the same magnitude. Moving lever arms  140  and  146  in one direction, e.g., toward flexure arms  60  and  58 , respectively, would cause the entire side of floating body  52  extending between flexure arms  58  and  60  to increase in distance from the side of support body  50  in superimposition therewith, effectively creating rotation movement of floating body  16  about the F 2  direction. Decrease would the distance between the side of floating body  52  extending between flexure arms  56  and  54  and the side of support body  50  in superimposition therewith. Conversely, moving lever arms  140  and  146  in an opposite direction, e.g., toward flexure arms  54  and  56 , would cause the entire side of floating body  52  extending between flexure arms  58  and  60  to decrease in distance from the side of support body  50 . The distance between the side of floating body  52  extending between flexure arms  58  and  60  and the side of support body  50  in superimposition therewith would increase. Similarly, rotational movement of floating body  52  about the F 1  direction may be achieved by movement of lever arms  142  and  148  with actuators  152  and  156 , respectively, as discussed above with respect to movement of lever arms  140  and  146 . It should be understood that any linear combination of movement of the aforementioned lever arms may be effectuated to achieve desired motion.  
         [0041]     From the foregoing it is seen that rotational motions of floating body  52  about the F 1 , F 2  and F 3  directions are orthogonal to each other. By adjusting the magnitude of each actuation force or position at actuators  150 ,  152 ,  154  and  156 , any combination or rotational motions about the F 1 , F 2  and F 3  directions are constrained by the structural stiffness of flexure arms  54 ,  56 ,  58 , and  60 , floating body  52  and support body  50 .  
         [0042]     Referring to  FIGS. 1, 11  and  12 , in operation, orientation stage  10  is typically employed with an imprint lithography system (not shown). An exemplary lithographic system is available under the trade name IMPRIO 100™ from Molecular Imprints, Inc. having a place of business at 1807-C Braker Lane, Suite 100, Austin, Tex. 78758. The system description for the IMPRIO 100™ is available at www.molecularimprints.com and is incorporated herein by reference. As a result, orientation stage  10  may be employed to facilitate alignment of template  22  with a surface in superimposition therewith, such as a surface of substrate  158 . As a result, the surface of substrate  158  may comprising of the material from which substrate  158  is formed, e.g. silicon with a native oxide present, or may consist of a patterned or unpatterned layer of, for example, conductive material, dielectric material and the like.  
         [0043]     Template  22  and substrate  158  are shown spaced-apart a distance defining a gap  160  therebetween. The volume associated with gap  160  is dependent upon many factors, including the topography of the surface of template  22  facing substrate and the surface of substrate  158  facing template  22 , as well as the angular relationship between a neutral axis A of substrate with respect to the neutral axis B of substrate  158 . In addition, were the topography of both of the aforementioned surfaces patterned, the volume associated with gap  160  would also be dependent upon the angular relation between template  22  and substrate  158  about axis Z. Considering that desirable patterning with imprint lithography techniques is, in large part, dependent upon providing the appropriate volume to gap  160 , it is desirable to accurate align template  22  and substrate  158 . To that end, template  22  includes template alignment marks, one of which is shown as  162 , and substrate  158  includes substrate alignment marks, one of which is shown as  164 .  
         [0044]     In the present example it is assumed that desired alignment between template  22  and substrate  158  occurs upon template alignment mark  162  being in superimposition with substrate alignment mark  164 . As shown, desired alignment between template  22  and substrate  158  has not occurred, shown by the two marks be offset, a distance O. Further, although offset O is shown as being a linear offset in one direction, it should be understood that the offset may be linear along two direction shown as O 1  and O 2 . In addition to, or instead of, the aforementioned linear offset in one or two directions, the offset between template  22  and substrate  158  may also consist of an angular offset, shown in  FIG. 13  as angle Θ.  
         [0045]     Referring to  FIGS. 2, 10 , and  14 , desired alignment between template  22  and substrate  158  is obtained by the combined rotational movement about one or more axes T 1 , T 2 , T 3 , F 1 , F 2  and F 3 . Specifically, to attenuate offset linear offset, movement, as a unit, of compliant device  18 , template chuck  20  and template  22  about one or more axes T 1 , T 2 , T 3  is undertaken. This typically results in an oblique angle φ being produced between neutral axes A and B. Thereafter, angular movement of template  22  about one or more of axes F 1  and F 2  are undertaken to compensate for the angle φ and ensure that neutral axis A extends parallel to neutral axis B. Furthermore, the combined angular movement about axes T 1 , T 2 , T 3 , F 1 , F 2  results in a swinging motion of template  22  to effectuate movement of the same in a plane extending parallel to neutral axis B and transverse, of not orthogonal, to axes Z 1 , Z 2  and Z 3 . In this manner, template  22  may be properly aligned with respect to substrate  158  along to linear axes lying in a plane extending parallel to neutral axis B, shown in  FIG. 15 . Were it desired to attenuate, of not abrogate, angular offset, template  22  would be rotated about axis F 3  by use of actuators  150 ,  152 ,  154 , and  156  to provide the desired alignment.  
         [0046]     After the desired alignment has occurred, actuators  40 ,  42 , and  44  are operated to move template  22  into contact with a surface proximate to substrate. In the present example surface consists of polymerizable imprinting material  166  disposed on substrate  158 . It should be noted that actuators  40 ,  42 , and  44  are operated to minimize changes in the angle formed between neutral axes A and B once desired alignment has been obtained. It should be known, however, that it is not necessary for neutral axes A and B to extend exactly parallel to one another, so long as the angular deviation from parallelism is within the compliance tolerance of compliant device  18 , as defined by flexure joints  62 ,  64 ,  66 , and  68  and flexure arms  54 ,  56 ,  58 , and  60 . In this fashion, neutral axes A and B may be orientated to be as parallel as possible in order to maximize the resolution of pattern formation into polymerizable material. As a result, it is desired that position  122  at which the first and second RCCs are situation be placed at the interface of template  22  and material.  
         [0047]     Referring to  FIGS. 1, 16  and  17 , as discussed above, the foregoing system  10  is useful for patterning substrates, such as substrate  158  employing imprint lithography techniques. To that end, template  22  typically includes a mesa  170  having a pattern recorded in a surface thereof, defining a mold  172 . An exemplary template  22  is shown in U.S. Pat. No. 6,696,220, which is incorporated by reference herein. The patterned on mold  172  may comprising of a smooth surface of a plurality of features, as shown, formed by a plurality of spaced-apart recesses  174  and projections  176 . Projections  30  have a width W 1 , and recesses  28  have a width W 2 . The plurality of features defines an original pattern that forms the basis of a pattern to be transferred into a substrate  158 .  
         [0048]     Referring to  FIGS. 16 and 17  the pattern recorded in material  166  is produced, in part, by mechanical contact of the material  166  with mold  172  and substrate  158 , which as shown, may include an existing layer thereon, such as a transfer layer  178 . An exemplary embodiment for transfer layer  178  is available from Brewer Science, Inc. of Rolla, Mo. under the trade name DUV30J-6. It should be understood that material  166  and transfer layer  178  may be deposited using any known technique, including drop dispense and spin-coating techniques.  
         [0049]     Upon contact with material  166 , it is desired that portion  180  of material  166  in superimposition with projections  30  remain having a thickness t 1 , and sub-portions  182  remain having a thickness t 2 . Thickness t 1  is referred to as a residual thickness. Thicknesses “t 1 ” and “t 2 ” may be any thickness desired, dependent upon the application. Thickness t 1  and t 2  may have a value in the range of 10 nm to 10 μm. The total volume contained material  166  may be such so as to minimize, or to avoid, a quantity of material  166  from extending beyond the region of substrate  158  not in superimposition with mold  172 , while obtaining desired thicknesses t 1  and t 2 . To that end, mesa  170  is provided with a height, h m , which is substantially greater than a depth of recesses  174 , h r . In this manner, capillary forces of material  166  with substrate  158  and mold  172  restrict movement of material  166  from extending beyond regions of substrate  158  not in superimposition with mold  172 , upon t 1  and t 2  reaching a desired thickness. In the present invention, system  10  provide a three sigma alignment accuracy having a minimum feature size of, for example, about 50 nm or less.  
         [0050]     A benefit provided by system  10  is that it facilitates precise control over thicknesses t 1  and t 2 . Specifically, it is desired to have each of thicknesses t 1  be substantially equal and that each of thicknesses t 2  be substantially equal. As shown in  FIG. 16 , thicknesses t 1  are not uniform, as neither are thickness t 2 . This is an undersirable orientation of mold  172  with respect to substrate  158 . With the present system  10 , uniform thickness t 1  and t 2  may be obtained, shown in  FIG. 17 . As a result, precise control over thickness t 1  and t 2  may be obtained, which is highly desirable.  
         [0051]     The embodiments of the present invention described above are exemplary. As a result, many changes and modifications may be made to the disclosure recited above, while remaining within the scope of the invention. Therefore, the scope of the invention should not be limited by the above description, but instead should be determined with reference to the appended claims along with their full scope of equivalents.

Technology Classification (CPC): 8