Dynamic modeling of manipulation of micro/nanoparticles on rough surfaces

► The nanoparticle pushing on the rough substrates are studied based on AFM. ► The contact attributes by combination of the JKR, Schwarz, and Rumpf/Rabinovich theories are derived. ► The dynamic behavior of particle change on rough surface; and the force decreases. ► The critical values are more sensitive to the asperity radius than the height. ► The force decreases by the increment of the asperity radius within the range of 0.5 < r <5 nm.