Nowadays, AFM-based robots are widely utilized for transporting different nanoparticles. Using this devise as a tool for nanomanipulation, it is possible to specify the exact location of a nanoparticle in micro/nano-scale. In the fields of dynamics, contact mechanics and control of nanomanipulation for atomic force microscopy, accurate investigation and analysis of the motion of nanoparticles and the robustness of the control algorithm are among the most important goals that arise. In fact, one tries to achieve these two goals by applying the appropriate dynamics and control to the system. Moreover, the controlled displacement of nanoparticles and accurate and proper dynamic modeling can greatly help manipulation. Therefore, in the present study, static, dynamic, and contact mechanics models for the nanomanipulation of elliptical porous alumina nanoparticles were developed. Also, sliding and rolling modes were considered for this type of nanoparticles. The dynamic results showed that, for elliptical porous nanoparticles, increasing the porosity coefficient first leads to sliding and increases the difference between the forces required for sliding and rolling. However, for simple elliptical nanoparticles, the particle first rolls and then slides on the surface. In addition, by using contact mechanics equations, the penetration depth between the nanoparticle and the substrate and that between the nanoparticle and the tip were calculated to be approximately 6.2 nm and 1.4 nm, respectively. Subsequently, a sliding mode controller was modeled in order to control the deviation of the probe from the vertical and the displacement in the direction of motion. The results showed that convergence was achieved in less than 0.1s for all porosity coefficients considered.

如今，基于AFM的机器人被广泛用于运输不同的纳米颗粒。使用此设计作为纳米操作的工具，可以指定微米/纳米级纳米粒子的确切位置。在动力学，接触力学和用于原子力显微镜的纳米操纵的控制领域，对纳米粒子运动的精确调查和分析以及控制算法的鲁棒性是出现的最重要目标。实际上，人们试图通过对系统应用适当的动力学和控制来实现这两个目标。此外，纳米粒子的受控位移以及准确而适当的动态建模可以极大地帮助操纵。因此，在本研究中，静态，动态，建立了用于椭圆多孔氧化铝纳米粒子纳米操纵的接触力学模型。同样，对于这种类型的纳米颗粒，考虑了滑动和滚动模式。动力学结果表明，对于椭圆形多孔纳米颗粒，增加孔隙率系数首先会导致滑动，并增加了滑动和滚动所需力之间的差异。但是，对于简单的椭圆形纳米粒子，粒子先滚动然后在表面滑动。另外，通过使用接触力学方程式，纳米颗粒与基底之间以及纳米颗粒与尖端之间的渗透深度分别被计算为大约6.2nm和1.4nm。后来，为了控制探头相对于垂直方向的偏移以及沿运动方向的位移，对滑模控制器进行了建模。结果表明，考虑所有孔隙度系数，收敛时间均小于0.1s。