Deoxyribonucleic acid (DNA) origami [1] is expected to be a nanoscale functional block for Nano Electro Mechanical Systems (NEMS). It can be assembled on a substrate containing other MEMS components to realize a NEMS device in which nanostructures play an important role. We recently demonstrated a tapping mode atomic force microscopy (AFM) process that can manipulate DNA origami structures in liquid to desired positions with controlled orientations, which is a novel process that will eventually allow the constructions of complex nanostructures on substrate surfaces. The manipulation of DNA origami nanotubes with 6 nm in diameter and 400 nm in length placed on a mica substrate was executed by tapping mode AFM with 0-10 nm amplitude. The acting vertical force from the AFM tip to a DNA origami nanotube was calculated to be 25 - 30 nN numerically by using Simulink software (MathWorks). Experimental results shown that ∼80% samples can be successfully manipulated if the tapping mode AFM tip amplitude is 3-4 nm. 1 © 2013 IEEE.