Modeling and Simulation for Nanorobotic Manipulation with an AFM Cantilever
D.H. Kim, J.Y. Park, and B.K. Kim
Korea Institute of Science and Technology, KR
Keywords: AFM, cantilever, Nanomanipulation, Lennard-Jones Potential, Nanomechanics
It is greatly important to understand the mechanics of AFM-based nanorobotic manipulation for efficient and reliable handling of nanoparticles. Robust motion control of an AFM-based nanorobotic manipulation is much challenging due to uncertain mechanics in tip-sample interaction dominated by surface and intermolecular force and limitations in force and visual sensing capability to observe environment. This paper investigates a nanomechanic modeling which enables simulation for AFM-based nanorobotic manipulation, and its application to motion planning of an AFM-based nanorobot. Based on the modeling of intermolecular and adhesion force in AFM-based nanomanipulation, the behaviors of an AFM cantilever-based nanorobot by tip-sample interaction have been investigated for motion planning to grip and release nanoparticles. In the modeling of tip-sample interaction, we choose the Lennard-Jones force for non-contact regime, and indentation and adhesion force from JKR theory for contact regime. Simulation results provide insight into the mechanics of an AFM-based nanorobotic manipulation and applications of simulation results to motion analysis and motion planning are evaluated.
NSTI Nanotech 2003 Conference Technical Program Abstract