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AFM-Based Robotic Nano-Hand for Stable Manipulation at Nanoscale
Hou J(侯静); Liu LQ(刘连庆); Wang ZY(王智宇); Wang ZD(王志东); Xi N(席宁); Wang YC(王越超); Wu CD(吴成东); Dong ZL(董再励); Yuan S(袁帅)
Department机器人学研究室
Source PublicationIEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
ISSN1545-5955
2013
Volume10Issue:2Pages:285-295
Indexed BySCI ; EI
EI Accession number20131616210170
WOS IDWOS:000320994500007
Contribution Rank1
Funding OrganizationNational High Technology Research and Development Program of China [2009AA03Z316]; CAS FEA International Partnership Program for Creative Research Teams; National Natural Science Foundation of China [60904095, 61175103]
KeywordAtomic Force Microscopy Kinematics Model Nano-hand Nanomanipulation Robotics
AbstractOne of the major limitations for Atomic Force Microscopy (AFM)-based nanomanipulation is that AFM only has one sharp tip as the end-effector, and can only apply a point force to the nanoobject, which makes it extremely difficult to achieve a stable manipulation. For example, the AFM tip tends to slip-away during nanoparticle manipulation due to its small touch area, and there is no available strategy to manipulate a nanorod in a constant posture with a single tip since the applied point force can make the nanorod rotate more easily. In this paper, a robotic nano-hand method is proposed to solve these problems. The basic idea is using a single tip to mimic the manipulation effect that multi-AFM tip can achieve through the planned high speed sequential tip pushing. The theoretical behavior models of nanoparticle and nanorod are developed, based on which the moving speed and trajectory of the AFM tip are planned artfully to form a nano-hand. In this way, the slip-away problem during nanoparticle manipulation can be get rid of efficiently, and a posture constant manipulation for nanorod can be achieved. The simulation and experimental results demonstrate the effectiveness and advantages of the proposed method. Note to Practitioners-Almost all the existing AFM only has one single tip as the end-effector, thus during nanomanipulation, the interaction force between the object and the tip can only be applied through a single point. This often leads the AFM tip to slip over or slip away from the object, and makes it difficult to realize a posture constant manipulation during nanorod manipulation. All of these hinder the efficiency and effectiveness of manipulation based on AFM. In order to solve the problems, a new strategy for tip-based manipulation named nano-hand is proposed. In this approach, a set of positions are first predefined based on the kinematics model of the object. The AFM tip is then moved to these positions to generate a short pushing action to the target object in a relatively high frequency to mimic multi-fingered hand with single AFM tip. Finally, a robotic caging at nanoscale is formed. In this way, the problems caused by a sharp single tip manipulation can be solved into a certain extent. The simulation and experimental results show a stable and controllable nanomanipulation can be obtained through the developed nano-hand strategy.
Language英语
WOS HeadingsScience & Technology ; Technology
WOS SubjectAutomation & Control Systems
WOS KeywordATOMIC-FORCE MICROSCOPY ; CARBON NANOTUBES ; NANOMANIPULATION ; NANOPARTICLES
WOS Research AreaAutomation & Control Systems
Citation statistics
Cited Times:31[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/12547
Collection机器人学研究室
Corresponding AuthorHou J(侯静)
Affiliation1.College of Information Science and Engineering, Northeastern University, Shenyang, 110004, China
2.School of Information and Control Engineering, Shenyang Jianzhu University, Shenyang, 110168, China
3.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang 110016, China
4.Department of Advanced Robotics, Chiba Institute of Technology, Chiba, Japan
5.Shenyang Institute of Automation, Chinese Academy of Science, Shenyang 110016, China
6.Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI 48823, United States
Recommended Citation
GB/T 7714
Hou J,Liu LQ,Wang ZY,et al. AFM-Based Robotic Nano-Hand for Stable Manipulation at Nanoscale[J]. IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,2013,10(2):285-295.
APA Hou J.,Liu LQ.,Wang ZY.,Wang ZD.,Xi N.,...&Yuan S.(2013).AFM-Based Robotic Nano-Hand for Stable Manipulation at Nanoscale.IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,10(2),285-295.
MLA Hou J,et al."AFM-Based Robotic Nano-Hand for Stable Manipulation at Nanoscale".IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 10.2(2013):285-295.
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