Related papers: A general model for dynamic contact angle over ful…
In this contribution, typical friction driven structures are summarized and presented considering the mechanical structures and operation principles of different types of piezoelectric motors. A two degree-of-freedom dynamic model with one…
In this paper, we analyze the effects of contact models on contact-implicit trajectory optimization for manipulation. We consider three different approaches: (1) a contact model that is based on complementarity constraints, (2) a smooth…
Single component pseudo-potential lattice Boltzmann model has been widely applied in multiphase simulation due to its simplicity and stability. In many research, it has been claimed that this model can be stable for density ratios larger…
The motion of a contact line is examined, and comparisons drawn, for a variety of models proposed in the literature. Pressure and stress behaviours at the contact line are examined in the prototype system of quasistatic spreading of a thin…
State-of-the-art impact dynamics models either apply for free-flying objects or do not account that a robotic manipulator is commonly high-stiffness controlled. Thus, we lack tailor-made models for manipulators mounted on a fixed base.…
In theoretical analyses of the moving contact line, an infinite force along the solid wall has been reported based off the non-integrable stress along a single interface. In this investigation we demonstrate that the stress singularity is…
Multi-robot formation control has various applications in domains such as vehicle troops, platoons, payload transportation, and surveillance. Maintaining formation in a vehicle platoon requires designing a suitable control scheme that can…
We develop a theory of static friction by modeling the homogeneous surfaces of contact as being composed of a regular array of compressible elastic smooth microscopic inclines. Static friction is thought of as the resistance due to having…
Force modulation of robotic manipulators has been extensively studied for several decades. However, it is not yet commonly used in safety-critical applications due to a lack of accurate interaction contact modeling and weak performance…
Explicit analytical expressions for the drag and diffusion coefficients of a spherical particle attached to the interface between two immiscible fluids are constructed for the case of a small viscosity ratio between the fluid phases. The…
We investigate the velocity dependence of kinetic friction with a model which makes minimal assumptions on the actual mechanism of friction so that it can be applied at many scales provided the system involves multi-contact friction. Using…
This paper presents an adaptive observer design for semilinear hyperbolic rolling contact ODE-PDE systems with uncertain friction characteristics parameterized by a matrix of unknown coefficients appearing in the nonlinear (and possibly…
In this paper we use a deterministic multi-asperity model to investigate the elastic contact of rough spheres. Synthetic rough surfaces with controllable spectra were used to identify individual asperities, their locations and curvatures.…
Recent experiments (Guan et al. 2016a,b) showed many interesting phenomena on dynamic contact angle hysteresis while there is still a lack of complete theoretical interpretation. In this work, we study the time averaging of the apparent…
We are interested in a complete characterization of the contact-line singularity of thin-film flows for zero and nonzero contact angles. By treating the model problem of source-type self-similar solutions, we demonstrate that this…
We reconcile two scaling laws that have been proposed in the literature for the slip length associated with a moving contact line in diffuse interface models, by demonstrating each to apply in a different regime of the ratio of the…
Understanding cellular response to mechanical forces is immensely important for a plethora of biological processes. Focal adhesions are multi-molecular protein assemblies that connect the cell to the extracellular matrix and play a pivotal…
We consider two cantilevered beams undergoing frictional impacts at the free end. The beams are designed to be of similar geometry so that they have distinct but close natural frequencies. Under harmonic base excitation near the primary…
This work establishes a solution to the problem of assessing the capacity of multi-object assemblies to withstand external forces without becoming unstable. Our physically-grounded approach handles arbitrary structures made from rigid…
We report on the multi-contact frictional dynamics of model elastomer surfaces rubbed against bare glass slides. The surfaces consist of layers patterned with thousands spherical caps (radius of curvature 100 $\mu$m) distributed both…