基于AFM推动的纳米棒建模与操作

研究了AFM推动作用下纳米棒的运动情况，引入了与速度相关的黏滞摩擦力，建立了纳米棒体的运动学模型.在运动学模型的基础上，针对AFM单探针及纳米环境操作不确定性问题，对AFM探针操作参数的设置进行了讨论，提出了虚拟纳米手Z字形稳定操作策略.仿真及实验结果表明:纳米棒的运动学模型能够实时预测推动操作后棒体的瞬心位置，虚拟纳米手Z字形操作策略能够将棒体的位置误差限制在规定误差范围内，实现了纳米棒的稳定、定姿态操作.

Modeling and Manipulation Based on AFM Pushing for Nano-rod

The behavior of nano-rod driven by AFM was analyzed, and a kinematics model of nano-rod was established by introducing viscous friction which is relevant with the pushing velocity. Based on the model, the planning about the pushing parameters of AFM was debated and the nano-hand strategy of zigzag stable pushing was presented to solve the problems raised by only one end effector of AFM and the uncertainty of nano scale. The simulation and experimental results showed that the instantaneous centre of nano-rod at each manipulation could be determined by the kinematics model in real time. At the same time, the rod could be pushed into a bounded target area within a given probability by the nano-hand strategy of zigzag stable pushing. So the stable and posture controllable nanomanipulation could be realized.