Research On Nano-manipulation Technology Of Distributed Robot

In the field of nano-manipulation,due to the high resolution imaging capability and the diversity of samples,atomic force microscope(AFM)is regarded as the most valuable tools at the nano scale.As an important branch of nano-manipulation,teleoperation technology make remote manipulation come true.Nano teleoperation transmits data between master and slave by wireless communication technique,so researcher can do some nano-manipulation by remote control away from experimental site,which can avoid injury to a large extent by chemical drugs to researchers in the experiment.In this thesis,we designed a distributed atomic force microscope,which was consisted of two home-made atomic force microscope by our lab,single probe AFM and dual-probe AFM.The distributed atomic force microscope system integrates two AFM into one operation system,in the process of scanning,every AFM scans a sample,slave computer which under the control of master computer can manipulates controller and scanner moving or acquiring data and so on,controller collects the result and feed back to slave computer,then transmits the data to master computer by wireless communication,the next controlling command is passed to slave computer after analysis and contrast and AFM to complete a specific work.Two AFM in our distributed system can complete a task independently or work coordinately each other under the control of master computer.Based on the function to be realized of the system described in this thesis,we designed the overall framework of the system,divided the system into four parts which includes the master operating system,wireless transmission module,data acquisition subsystem and slave AFM monitoring subsystem,and do secondary development on our home made AFM.According to the requirement of the system,we use VC++ to develop master operating system,data acquisition subsystem and slave AFM monitoring subsystem.Wireless transmission module is consisted of wireless transmission chip and micro control unit,in this paper we chose nRF24L01 and STM32F103ZET6 as wireless transmission chip and micro control unit,and designed the peripheral circuit,as for the program development of wireless transmission unit,we completed it in Keil5.According to the working feature of slave AFM,we designed a collaborative work method.The distributed atomic force microscope system designed in this thesis integrates two AFM which can work independently into an operation system successfully,so researcher can do some nano-manipulation by teleoperation technology away from experimental site rather than waiting for long time there,which can avoid injury to a large extent by chemical drugs to them in the experiment and can improve the work efficiency significantly.