Related papers: A continuous contact force model for impact analys…
Soft slender robots have attracted more and more research attentions in these years due to their continuity and compliance natures. However, mechanics modeling for soft robots interacting with environment is still an academic challenge…
We propose a hierarchy of kinetic and macroscopic models for a system consisting of a large number of interacting pedestrians. The basic interaction rules are derived from earlier work where the dangerousness level of an interaction with…
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…
The contact angle of a macroscopic droplet on a heterogeneous but flat substrate is studied using the interface displacement model which can lead to the augmented Young-Laplace equation. Droplets under the condition of constant volume as…
A unifying slipping and sticking frictional impact model for multibody systems in contact with a frictional surface is presented. It is shown that the model can lead to energetic consistency in both slip state and stick state upon imposing…
The dynamics of the deformations of a moving contact line is studied assuming two different dissipation mechanisms. It is shown that the characteristic relaxation time for a deformation of wavelength $2\pi/|k|$ of a contact line moving with…
In order to probe the dynamics of contact-line motion, we study the macroscopic properties of sessile drops deposited on and then aspirated from carefully prepared horizontal surfaces. By measuring the contact angle and drop width…
A self-consistent many-body approach is proposed to build a first-principles crystal field theory, where crystal field parameters are calculated ab initio. Many-body theory is used to write the energy of the interacting system as a function…
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.…
A novel lattice Boltzmann (LB) model for multiphase flows is developed that complies with the thermodynamic foundations of kinetic theory. By directly devising the collision term for LB equation at the discrete level, a self-tuning equation…
Pressure Field Contact (PFC) was recently introduced as a method for detailed modeling of contact interface regions at rates much faster than elasticity-theory models, while at the same time predicting essential trends and capturing rich…
We develop two new continuum contact models for coupled adhesion and friction, and discuss them in the context of existing models proposed in the literature. Our new models are able to describe sliding friction even under tensile normal…
Common methods for learning robot dynamics assume motion is continuous, causing unrealistic model predictions for systems undergoing discontinuous impact and stiction behavior. In this work, we resolve this conflict with a smooth, implicit…
We introduce a simple nonequilibrium model for a driven diffusive system with nonconservative reaction kinetics which exhibits ergodicity breaking and hysteresis in one dimension. These phenomena can be understood through a description of…
This paper develops a new quasi-static modeling framework for tracked robots based on the power dissipation method. Given a set of track speeds, this method predicts the vehicle's instantaneous rigid body motion. We introduce three specific…
Adhesive [e.g. van der Waals] forces were not generally taken into account in contact mechanics until 1971, when Johnson, Kendall and Roberts (JKR) generalized Hertz' solution for an elastic sphere using an energetic argument which we now…
Topologies of large deformation Contact-aided Compliant Mechanisms (CCMs), with self and mutual contact, exemplified via path generation applications, are designed using the continuum synthesis approach. Design domains are parameterized…
Contact angle hysteresis of droplets will be examined in light of static friction between liquid drop and solid surface. Unlike frictions in solid-solid interfaces, pinning forces at contact points or contact lines would be the cause of…
Rigid bodies, plastic impact, persistent contact, Coulomb friction, and massless limbs are ubiquitous simplifications introduced to reduce the complexity of mechanics models despite the obvious physical inaccuracies that each incurs…
We propose an accurate and energy-stable parametric finite element method for solving the sharp-interface continuum model of solid-state dewetting in three-dimensional space. The model describes the motion of the film\slash vapor interface…