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Virtual Tooling for Nanoassembly and Nanomanipulations
Wang ZD(王志东); Liu LQ(刘连庆); Hou J(侯静); Wang ZY(王智宇); Xi N(席宁); Dong ZL(董再励)
作者部门机器人学研究室
专著(文集)名Nanorobotics
编著者Constantinos Mavroidis
出版者Springer Verlag
出版地Berlin
2013
ISBN号978-1-4614-2118-4
出处页码115-135
收录类别EI
EI收录号20172803914128
摘要Atomic force microscopy (AFM) (Binning et al., Phys Rev Lett 56:930–933, 1986) has been used as a nanomanipulation tool recently because it not only has high resolution scanning ability but also can be controlled as an end-effector in the nanoenvironment (Junno et al., Appl Phys Lett 66:3627–3629, 1995). There are several challenging problems including controller design with relatively large thermal drift and other uncertainties, real-time positioning and manipulation control with sensor feedback, and nanosensing and manipulation planning. In the last decade, many researchers are working on these problems and some methods have been proposed that solved these problems partially (Chen et al., IEEE Trans Autom Sci Eng 3:208–217, 2006; Li et al., IEEE Trans Nanotechnol 4:605–614, 2005; Resch et al., Langmuir 14:6613–6616, 1998; Hansen et al., Nanotechnology 9:337–342, 1998; Sitti, IEEE ASME Trans Mechatron 9:343–348, 2004). However, the problem caused by single tip interaction is still hindering its efficiency especially in handling nanoparticles/nano-objects to form patterns or nanostructures. Tools are usually designed and used for object handling or other tasks especially for having higher efficiency and accuracy or coping with various uncertainties on task performing. We proposed a concept of virtual nanohand which mimicking multi-fingered hand and controlling an AFM tip to form a virtual tool for achieving stable nano manipulation and nanoassembly. The nanohand strategy is implemented by moving the AFM tip to a set of predefined trajectories in relative high frequency. It allows us easily to design and apply various virtual tools for coping with requirements in nanomanipulation. This virtual tooling strategy is a solution with good potential on realizing high efficiency nanoassembly and nanomanipulation.
语种英语
产权排序1
文献类型专著章节/文集论文
条目标识符http://ir.sia.cn/handle/173321/17665
专题机器人学研究室
通讯作者Wang ZD(王志东)
作者单位1.Department of Advanced Robotics, Chiba Institute of Technology, Tsudanuma 2-17-1, Narashino, Chiba, Japan
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, 114 Nanta Street, Shenhe District, Shenyang 110016, China
3.College of Information Science and Engineering, Northeastern University, Shenyang 110004, China
4.Department of Electrical and Computer Engineering, Michigan State University, 120 Engineering Building, East Lansing, MI 48824-1226, USA
推荐引用方式
GB/T 7714
Wang ZD,Liu LQ,Hou J,et al. Virtual Tooling for Nanoassembly and Nanomanipulations. Nanorobotics. Berlin:Springer Verlag,2013:115-135.
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