基于AFM推动的纳米粒子运动学模型研究

Research on kinematics model of nanoparticle based on AFM pushing

针对纳米操作和装配过程中面临的由AFM单探针带来的物体丢失和操作效率低等问题,通过对纳米粒子推动实验的分析,建立了纳米粒子推动操作的运动学模型。该模型充分考虑了推动速度及探针磨损两个因素,引入了与速度相关的粘滞摩擦力,并利用空间配置的方法解决了探针针尖半径对操作结果的影响。该模型能够预测推动操作后粒子的可能位置,从而可以避免操作过程中粒子丢失的现象,能够提高纳米操作效率。数值模拟结果与多次实验操作结果相对比,验证了所建模型的有效性。

In the process of nanomanipulation and assembly, most of the AFMs only have one tip as the end effector, which causes the problems of object loss and low operation efficiency. In this paper, the behavior of nanoparticle under pushing is theoretically analyzed and modeled. The model considers the pushing velocity and tip wearing suffi- ciently; speed related viscous friction is introduced and the configuration space method of the pushing action plane is used to overcome the affect of tip diameter on manipulation result. Using this model, the position of the nanoparticle can be determined after each manipulation in real time, so stable and reliable nanomanipulation can be realized. Numerical simulation and experimental results show the validity of the proposed model.