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

In recent years, the positioning of cylindrical nanoparticles, like cnts andnanowires, by means of atomic force microscope (afm) nanorobots has been investigatedwidely. despite this growing scientic interest, no one has studied 3d model simulationsof dierent modes (sliding, rolling and rotation). previous work has only focused on twodimensionalsimulations, which often cannot be extended to the manipulation of cylindricalparticles. the aim of this study is to present a 3d model for the positioning of cylindricalnanoparticles. 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 decreasein the eects of 3d parameters. we have developed a 3d kinematic model, which makesit possible to predict the positioning process from the moment the tip of the cantilevertouches the particle to when the particle reaches the desired point. these simulations alsodetermine the displacements of the particle and cantilever during the time when the particleis stuck into the substrate. in response to real-time monitoring limitations, the introducedkinematic simulation is able to predict the motion behavior of a cylindrical nanoparticleduring the manipulation process.