Related papers: The contact mechanics challenge: Problem definitio…
The ability to reason about and predict the outcome of contacts is paramount to the successful execution of many robot tasks. Analytical rigid-body contact models are used extensively in planning and control due to their computational…
The contact between rough surfaces with adhesion is an extremely difficult problem, and the approximation of the DMT theory (to neglect deformations due to attractive forces), originally developed for spherical contact of very small radius,…
We present a numerical model for the prediction of the rough contact mechanics of a viscoelastic block, with graded rheology, in steady sliding contact with a randomly rough rigid surface. In particular, we derive the effective surface…
We outline a phenomenological model to assess friction at the interface between two bodies in mutual contact. Although the approach is general, the application inspiring the approach is the Discrete Element Method. The kinematics of the…
Lubricated sliding contact between soft solids is an interesting topic in biomechanics and for the design of small-scale engineering devices. As a model of this mechanical set-up, two elastic nonlinear solids are considered jointed through…
One of the most challenging and basic problems in elastic rod dynamics is a description of rods in contact that prevents any unphysical self-intersections. Most previous works addressed this issue through the introduction of short-range…
The design of contact interfaces that meet quantitatively a specified friction law (friction force vs normal force) is challenging due to the multi-scale and multi-physics nature of contact interactions. Recently, a concept was proposed to…
The phenomenon of corrugated surfaces is a known technical problem of tribological systems; considerable work has been published in the past on the aspect of rail corrugation of railway systems. Less known is a similar phenomenon observed…
Two mathematical models are developed within the theoretical framework of large strain elasticity for the determination of upper and lower bounds on the total strain energy of a finitely deformed hyperelastic body in unilateral contact with…
Surface roughness is known to easily suppress the adhesion of elastic surfaces. Here a simple model for the contact of \emph{viscoelastic} rough surfaces with significant levels of adhesion is presented. This approach is derived from our…
Collisions and contacts of elastic materials are numerically and theoretically investigated. Using a two-dimensional spring-mass model with defect particles under the free boundary condition, we reproduce the Hertzian contact theory at…
In this paper, we introduce a novel convex formulation that seamlessly integrates the Material Point Method (MPM) with articulated rigid body dynamics in frictional contact scenarios. We extend the linear corotational hyperelastic model…
Insects, pick-and-place manufacturing, engineered adhesives, and soft robots employ soft materials to stick to surfaces even in the presence of roughness. Experiments show that the force required for making contact is lower than for…
Realistic fluid-solid interaction potentials are essential in description of confined fluids especially in the case of geometric heterogeneous surfaces. Correlated random field is considered as a model of random surface with high geometric…
We consider an adhesive contact between a thin soft layer on a rigid substrate and a rigid cylindrical indenter ("line contact") with account of the surface tension of the layer. First, it is shown that the boundary condition for the…
We investigate the effects of roughness and fractality on the normal contact stiffness of rough surfaces. Samples of isotropically roughened aluminium surfaces are considered. The roughness and fractal dimension were altered through…
Understanding the contact between rough surfaces undergoing plastic deformation is crucial in many applications. We study the effect of plastic deformation on the surface separation between two solids with random roughness. Assuming a…
In order to develop predictive wear laws, relevant material parameters and their influence on the wear rate need to be identified. Despite decades of research, there is no agreement on the mathematical form of wear equations and even the…
We present a barrier method for treating frictional contact on interfaces embedded in finite elements. The barrier treatment has several attractive features, including: (i) it does not introduce any additional degrees of freedom or…
In Part I of this two part series, we presented a multi-neighbor dependent contact model for adhesive elastic-plastic particles built upon the method of dimensionality reduction that is valid for the elastic and fully-plastic contact…