Manipulation of nanoparticles by pushing operations using an Atomic Force Microscope (AFM)

摘要: This thesis presents new paradigms for a particular class of non-prehensile manipulators nanoscale objects that are limited to modelling accurately the relative motion using continuous mechanics where contact area is not presented. restrictions results in models which have low accuracy and lack understanding about real object. The newly developed focused on three topics: characterisation and analysis forces present during at two dimensional space; characterisation quasi-static instantaneous centre rotation iCOR; quasi-static,impulsive dynamic constraints iCOR. For being manipulated nanoscale, characterise rolling sliding introduced. For case relation between friction load (force torque) slip (displacement rotation) for rigid nano-object flat rough surface, distribution normal assumed be known priori independent rate Every point frictional obey Coulomb’s friction law. A set equations solved, performing high integration techniques such as Bulirsch-Stoer Method implemented computing programming language FORTRAN. The full can thus described by its iCOR. methodology model presented from derived used approximate trii bological parameters nano-objects unknown pressure distributions. tribological parameters, coefficient μ, obtained generated maps applied force or observed iCOR location manipulated. approach has several advantages, including simplicity, robustness, an ability simulate classes systems difficult to spatial mechanics. The final part this introduces novel constraint-based method combination with minimum principle locate position motion. Furthermore, impulsive cases The results these describe generate knowledge their parameters.