Related papers: Implicit frictional dynamics with soft constraints
Soft robots are notoriously hard to control. This is partly due to the scarcity of models able to capture their complex continuum mechanics, resulting in a lack of control methodologies that take full advantage of body compliance. Currently…
Contact mechanics-based models for the friction of nominally flat rough surfaces have not been able to adequately capture certain key experimentally observed phenomenona, such as the transition from a static friction peak to a lower level…
Sliding along frictional interfaces separating dissimilar elastic materials is qualitatively different from sliding along interfaces separating identical materials due to the existence of an elastodynamic coupling between interfacial slip…
This paper presents a novel contact-implicit trajectory optimization method using an analytically solvable contact model to enable planning of interactions with hard, soft, and slippery environments. Specifically, we propose a novel contact…
The systematic errors due to the practical implementation of the Contact Dynamics method for simulation of dense granular media are examined. It is shown that, using the usual iterative solver to simulate a chain of rigid particles,…
A systematic procedure for optimising the friction coefficient in underdamped Langevin dynamics as a sampling tool is given by taking the gradient of the associated asymptotic variance with respect to friction. We give an expression for…
The mechanical response of elastic porous media confined within rigid geometries is central to a wide range of industrial, geological, and biomedical systems. However, current models for these problems typically overlook the role of wall…
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…
Soft solids with tunable mechanical response are at the core of new material technologies, but a crucial limit for applications is their progressive aging over time, which dramatically affects their functionalities. The generally accepted…
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…
We introduce a novel approach to simulate the interaction between fluids and thin elastic solids without any penetration. Our approach is centered around an optimization system augmented with barriers, which aims to find a configuration…
Electrovibration technology enables tactile texture rendering on capacitive touchscreens by modulating friction between the finger and the screen through electrostatic attraction forces, generated by applying an alternating voltage signal…
The dynamic frictional force between solid surfaces in relative motion differs from the static force needed to initiate motion, but this distinction is not usually thought to occur for liquid drops moving on a solid. Recent experiments…
The classical Hertzian contact model establishes a monotonic correlation between contact force and area. Here, we showed that the interplay between local friction and structural instability can deliberately lead to unconventional contact…
Scales engagement can contribute significantly to nonlinear bending behavior of elastic substrates with rigid biomimetic scales. In this letter, we investigate the role of friction in modulating the nonlinearity that arises due to…
The dynamics of frictional interfaces play an important role in many physical systems spanning a broad range of scales. It is well-known that frictional interfaces separating two dissimilar materials couple interfacial slip and normal…
We study in detail the recent suggestions by Tshiprut et al. [Phys. Rev. Lett. 95, 016101 (2005)] to tune tribological properties at the nanoscale by subjecting a substrate to periodic mechanical oscillations. We show that both in…
During planar motion, contact surfaces exhibit a coupling between tangential and rotational friction forces. This paper proposes planar friction models grounded in the LuGre model and limit surface theory. First, distributed planar extended…
Frictional sliding is an intrinsically complex phenomenon, emerging from the interplay between driving forces, elasto-frictional instabilities, interfacial nonlinearity and dissipation, material inertia and bulk geometry. We show that…
Numerical simulations are essential for evaluating the performance and safety of geological engineered systems such as geologic carbon storage sites, enhanced geothermal fields, and oil and gas reservoirs. A key challenge lies in accurately…