Modeling and Control of Deformation of Tip of AFM Nano-robot in the Automatic Nano-manipulation Operations

In this paper, by using the classical molecular dynamics and coarse grained molecular dynamics, the mechanism of automatic nanomanipulation with atomic force microscope nano-robot was modelled and it was shown that the rupture of tip is the most error source in the automatic nano-manipulation process, where is manipulation of particles on the substrate frequently. By this, to prevent from the non-favorable effects of deformation of tip on the result of nano-manipulation, a control plan was introduced. By definition of root mean squares as a criterion for measurement of the level of deformation, a simple feedback of it was used to control the system. After that the model proposed and validated in comparison with some experimental works, by using the coarsening the molecular dynamics, the system is converted into a relatively simple model and was suggested for implementation into the manipulation processes. By using this model, it was observed that although the aluminum tip leads to the worst result, by using the shape feedback, the positioning error has been reduced considerably. Positioning error without and with feedback was reported for a nickel tip as 37.77% and 17.77%, respectively. These values show the efficiency of the presented shape feedback approach.