J-066

Force Controlled Pushing of Nanoparticles: Modeling and Experiments

Authors: Metin Sitti and Hideki Hashimoto
Affiliation: Institute of Industrial Science, University of Tokyo,
Intelligent Mechatronics Laboratory,
Roppongi, 7-22-1, Minato-ku, Tokyo, 106-8558, Japan

Abstract
In this paper, a nano-robotics manipulation system using Atomic Force Microscope (AFM) probe as the pushing manipulator and force and topology sensor has been proposed. The task is the 2-D positioning of nanometer size particles on a substrate in ambient conditions. Thus, the modeling of interaction forces and dynamics during pushing operation is analyzed for understanding the nano scale physical phenomenon which is different from macro robotics physics. Simulations and experiments are held for determining the conditions and strategy for reliable manipulation, and determining the affecting parameters. The results show that latex particles can be positioned on silicon substrates successfully, and the proposed models correspond to the experimental data. The information of this project which is called as "Tele-Nanorobotics" is available in http://dfs.iis.u-tokyo.ac.jp/Nano/.

Metin Sitti
sitti@vss.iis.u-tokyo.ac.jp