3D kinematics of cylindrical nanoparticle manipulation by an atomic force microscope based nanorobot

In recent years, the positioning of cylindrical nanoparticles, like CNTs and nanowires, by means of Atomic Force Microscope (AFM) nanorobots has been investigated widely. Despite this growing scientic interest, no one has studied 3D model simulations of dierent modes (sliding, rolling and rotation). Previous work has only focused on twodimensional simulations, which often cannot be extended to the manipulation of cylindrical particles. The aim of this study is to present a 3D model for the positioning of cylindrical nanoparticles. In order to validate the results, 2D and 3D simulations have been compared. Moreover, the ndings show that both simulations act similarly with a gradual decrease in the eects of 3D parameters. We have developed a 3D kinematic model, which makes it possible to predict the positioning process from the moment the tip of the cantilever touches the particle to when the particle reaches the desired point. These simulations also determine the displacements of the particle and cantilever during the time when the particle is stuck into the substrate. In response to real-time monitoring limitations, the introduced kinematic simulation is able to predict the motion behavior of a cylindrical nanoparticle during the manipulation process.