Algorithm for determining the cantilever load carrying capacity in the 3D manipulation of nanoparticles with geometrical constraints based on FEM simulations

• Published in: Robotica Vol. 34; no. 9; pp. 2087 - 2104
• Main Authors: Korayem, A. H., Hoshiar, A. K., Korayem, M. H.
• Format: Journal Article
• Language: English
• Published: Cambridge, UK Cambridge University Press 01.09.2016
• Subjects: Algorithms; Computer simulation; Displacement; Feasibility; Mathematical models; Nanoparticles; Nanostructure; Three dimensional models; Nanomanipulation; Dynamic load carrying capacity; AFM nanorobot; Cylindrical nanoparticles
• ISSN: 0263-5747; 1469-8668
• DOI: 10.1017/S0263574714002756

Nowadays, with the growing use of atomic force microscope (AFM) nanorobots in the fabrication of nanostructures, research in this area has proliferated. A major limiting factor in the utilization of AFM nanorobots is the lack of real-time monitoring. Computer simulations have been widely used to improve the feasibility of nanoparticles pushing by means of the AFM-based nanorobots. In order to prevent damage to a cantilever during the nanoparticle displacement, it is necessary to come up with an algorithm that can check the feasibility of the manipulation operation with regards to the geometrical constraints of the cantilever and the considered path. The existing models for predicting the feasibility of manipulation processes are limited to 2D manipulation models (spherical nanoparticles), which are incapable of predicting the feasibility of 3D operations (lack of a comprehensive model of 3D cases). In this paper, to predict the feasibility of displacing cylindrical nanoparticles and to consider the path of motion (rough surface), a model has been proposed that can ensure the feasibility of the manipulation operation in advance. Finite element simulation has been employed to obtain the maximum load that can be withstood by a cantilever of a specific geometry. Also, the effect of surface roughness on the critical manipulation force has been explored. Ultimately, an algorithm has been presented for determining the feasibility of the manipulation operation by considering the particle motion path and the cantilever geometry.