چكيده به لاتين
In this study, contact, roughness and impact mechanics of these particles are first examined. The results for the tip contact with the microparticle and the microparticle contact with the substrate are examined. The results show that the indentation depth that created by the tip contact with the microparticles is higher than the contact between substrate and microparticle. The collision simulation results, based on tip and elliptical microparticle showed that due to the average velocity during the collision in the highest state, ie, the Jamari theory 0.15 nm depth and 45 nN is created.
Manipulation results of different models of roughness for elliptic microparticles show that the critical rotational time of Ramp model is 0.097 and the critical rotational time of Rabinovich model is 0.096 seconds, while these values for slip mode are 0.2005 and 0.21 seconds, respectively. In general, the two Prokopovich and Katynen models, which consider the number of surface asperity more than one, provide the least force and critical time. The impact results show that as a result of the initial impact, the location of the microparticles will increase. Finally, the results are compared with the results of the Adams software.
After finding different paths, the optimal path for the movement of the microparticles is calculated using the genetic algorithm method. There are two types of fixed and movable obstacles in the direction of movement. Then the routing check is done on a real path. The results show that the optimum path length is 3.4185 μm. The validation of the routing results shows that the error rate in length is 8.16% and the error rate in cost is 5.47%. Finally, in order to control the movement path of the microparticles, the control of the atomic force microscope set in the presence of perturbations is investigated using AFSMC control method.
The AFSMC controller designed to control the tip distance from the base surface, after 0.8 seconds, reaches the desired value. Comparison of the results of the substrate control with the proposed method with the sliding mode control and the PID control indicates that the designed controller has a better response than the other two options. In the field of atomic force microscope tip control, two variables of tip deformation and its location are controlled. Finally, considering the importance of controlling the path of movement of microparticles in a given pathway, this issue will be addressed in the case of elliptical and cubic microparticles. For the cubic microparticles a sinusoidal pathway and for the elliptic microparticles a quadratic pathway are selected. The results show that, in both cases and for both microparticle geometries, the desired path goes.
