Nanomanipulation Process Research Articles

Nano-robotic manipulation using a RRP nanomanipulator: Part A – Mathematical modeling and development of a robust adaptive driving mechanism

A three degree of freedom (3 DOF) nanomanipulator with revolute revolute prismatic (RRP) actuator structure, named here MM3A, can be utilized for a variety of nanomanipulation tasks. This first paper in the series presents the mathematical modeling and development of a memory-based robust adaptive controller for the nanomanipulator driving principle. Unlike widely used Cartesian-structure nanomanipulators, the MM3A is equipped with revolute-piezoelectric actuators which result in outstanding performance in controlling the nanomanipulator’s tip alignment during the nanomanipulation. However, the RRP structure of the nanomanipulator introduces complexity in kinematic and dynamic equations of the system which needs to be addressed in order to control the nanomanipulation process. Dissimilar to the ordinary piezoelectric actuators which provide only a couple of micrometers working range, the piezoelectric actuators utilized in MM3A, namely Nanomotors ®, provide wide range of action (120° in revolute actuators and 12 mm in prismatic actuator) with nanoscale precision (0.1 μrad in revolute actuators and 0.25 nm in prismatic actuator). This wide range of action combined with nanoscale precision is achieved using a special stick/slip moving principle of the Nanomotors ®. However, such stick/slip motion results in stepping movement of the MM3A. Hence, due to the RRP structure and stepping movement principle of the MM3A nanomanipulator, development and implementation of an appropriate controller for such nanomanipulation process is not a trivial task. In this paper, a novel memory-based robust adaptive controller is proposed to overcome such shortfalls. Following the development the controller, numerical simulations are preformed to demonstrate the positioning performance capability of the controller in a variety of nanomanipulation tasks.

Sensitivity analysis of nanoparticles pushing critical conditions in 2-D controlled nanomanipulation based on AFM

This paper investigates the sensitivity of critical parameters in AFM-based nanomanipulation, including the nanoparticle pushing force and time versus changing all parameters of the nanomanipulation process. The presented model includes both adhesional and normal friction forces. Also, pull-off forces are modeled by using the Johnson–Kendall–Roberts (JKR) contact mechanics model. Dynamic equations are developed based on the free body diagram of the pushing system, including AFM cantilever and probe, nanoparticle, and substrate. Dynamic simulation of gold particle manipulation on a silicon substrate is performed. In this model, the nanoparticle can be traced at every moment and at the same time all the dynamics and deformations of nanoparticle can be achieved from numerical simulation. Depending on obtained diagrams for parameters sensitivity, the suggested behavior will be followed by the particle such as rolling, sliding, stick-slip, and rotation. Its novelty is that the sensitivity of critical force and critical time for particle pushing on the substrate are obtained for all parameters. This is important for designing and choosing of geometry and materials of AFM, nanoparticle, and substrate. Also this is effective on choosing of proper initial condition in pushing purposes. Finally, it can be used to adjust proper pushing time and force for an accurate and successful pushing and assembly, and real-time visualization during micro/nanomanipulation using real-time force data.

On the question of information processing in nanomanipulation tasks

Achievements in the investigation of nanomanipulation in robotics are considered. New systems for information processing in real time with a specific man—machine interface are described as applied to the nanoworld. The features of manipulation in the nanoworld, connection mechanisms, and some theoretical models for the calculation of adhesion forces appearing between objects and the field of nanomanipulation are discussed. Examples of nanoassembly are given. It is noted that the creation of nanorobots will provide automation of molecular production by enabling a human operator to control nanomanipulation processes in the normal, usual-dimensional world.

Manipulation of organic “needles” using an STM operated under SEM control

Nano-sized P4P ( para-quaterphenylene) organic crystallites grown on a gold substrate were removed and redeposited using the tip of an STM. The controlled lift-off of the needle-shaped crystallites was imaged by a simultaneously operated SEM. The forces exerted by the metal STM tip on the nano-crystal during this nano-manipulation process could be determined by monitoring the deflection of the STM tip. After the lift-off process the former contact area was imaged using the STM. These STM micrographs clearly demonstrate that the region between the needles is covered by a P4P layer with a thickness of at least 3 nm.

310 分子動力学法による二層障壁構造カーボンナノチューブ(DWNT)のマニピュレーション過程の解析(GS-1.4 分子動力学)

Double wall carbon nano tube (DWNT) is a promising material for advanced nano mechanical systems. Simulating nano manipulation processes of the inner/outer tube and investigating the relative motion between the tubes are important to utilize DWNT as a mechanical element. Molecular dynamics study has been carried out to estimate pulling and rotating properties for various DWNTs. Structural dependence of the pulling force and the damping of rotation are quantitatively inspected.