Related papers: Two-dimensional FrBD friction models for rolling c…
This paper extends the distributed rolling contact FrBD framework to linear viscoelasticity by considering classic derivative Generalised Maxwell and Kelvin-Voigt rheological representations of the bristle element. With this modelling…
In [1], a new modeling paradigm for developing rate-and-state-dependent, control-oriented friction models was introduced. The framework, termed Friction with Bristle Dynamics (FrBD), combines nonlinear analytical expressions for the…
Frictional sliding contact in hydrodynamic environments can be found in a range of engineering applications. Accurate modeling requires an integrated numerical framework capable of resolving large relative motions, multiphase interactions,…
This paper introduces a novel family of single-track vehicle models that incorporate a distributed representation of transient tyre dynamics, whilst simultaneously accounting for nonlinear effects induced by friction. The core of the…
This work presents a concise theoretical and computational framework for the finite element formulation of frictional contact problems with arbitrarily large deformation and sliding. The aim of this work is to extend the contact theory…
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…
Mechanical interactions between rigid rings and flexible cables find broad application in both daily life (hanging clothes) and engineering systems (closing a tether-net). A reduced-order method for the dynamic analysis of sliding rings on…
Dynamic models, particularly rate-dependent models, have proven effective in capturing the key phenomenological features of frictional processes, whilst also possessing important mathematical properties that facilitate the design of control…
We present a differentiable dynamics solver that is able to handle frictional contact for rigid and deformable objects within a unified framework. Through a principled mollification of normal and tangential contact forces, our method…
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…
Dynamics simulation with frictional contacts is important for a wide range of applications, from cloth simulation to object manipulation. Recent methods using smoothed lagged friction forces have enabled robust and differentiable simulation…
We introduce a model of friction between two contacting (stationary or co-sliding) rough surfaces, each comprising a random ensemble of polydisperse hemispherical bumps. In the simplest version of the model, the bumps experience on contact…
We study the lubricated contact of sliding soft surfaces that are locally patterned but globally cylindrical, held together under an external normal force. The local patterns represent either naturally occurring surface roughness or…
Contact involving soft materials often combines dry adhesion, sliding friction, and large deformations. At the local level, these three aspects are rarely captured simultaneously, but included in the theoretical models by Mergel et al.…
Sliding friction between two dry surfaces is reasonably described by the speed-independent Amonton-Coulomb friction force law. However, there are many situations where the frictional contact points between two surfaces are "active" and may…
We investigate the dynamics of finite degree-of-freedom, planar mechanical systems with multiple sliding, unilateral frictional point contacts. A complete classification of systems with 2 sliding contacts is given. The contact-mode based…
We present a computational framework for simulating filaments interacting with rigid bodies through contact. Filaments are challenging to simulate due to their codimensionality, i.e., they are one-dimensional structures embedded in…
Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. A major contributor to the success of such methods is their robustness in the face of non-smooth and…
We present a convex formulation of compliant frictional contact and a robust, performant method to solve it in practice. By analytically eliminating contact constraints, we obtain an unconstrained convex problem. Our solver has proven…
The prevailing models for advancing dynamic contact angle are under intensive debates, and the fitting performances are far from satisfying in practice. The present study proposes a model based on the recent understanding of the multi-scale…