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How friction affects adhesion is addressed. The problem is considered in the context of a very stiff sphere adhering to a compliant, isotropic, linear elastic substrate, and experiencing adhesion and frictional slip relative to each other.…
A rigorous derivation and validation for linear fluid-structure-interaction (FSI) equations for a rigid-body-motion problem is performed in an Eulerian framework. We show that the added-stiffness terms arising in the formulation of Fanion…
We present a multi-scale computational framework suitable for designing solid lubricant interfaces fully in silico. The approach is based on stochastic thermodynamics founded on the classical thermally activated two-dimensional…
A main challenge in numerical simulations of moving contact line problems is that the adherence, or no-slip boundary condition leads to a non-integrable stress singularity at the contact line. In this report we perform the first steps in…
In the present paper we show that the normal contact problem between two elastic bodies in the halfspace approximation can always be transformed to an equivalent problem of the indentation of a profile into an elastic Winkler foundation.…
A highly accurate, single-pass, unbiased frictional contact algorithm for higher-order elements based on the concept of midplane is presented. Higher-order elements offer a lucrative choice for contact problems as they can better represent…
A new method has been proposed to evaluate the frictional force in the stationary state. This method is applied to the 1-dimensional model of clean surfaces. The kinetic frictional force is seen to depend on velocity in general, but the…
The problem of a general, symmetric contact, between elastically similar bodies, and capable of idealisation using half-plane theory, is studied in the presence of interfacial friction. It is subject to a constant set of loads - normal…
Non-prehensile manipulation enables fast interactions with objects by circumventing the need to grasp and ungrasp as well as handling objects that cannot be grasped through force closure. Current approaches to non-prehensile manipulation…
In this work, we introduce a collision model specifically tailored for the simulation of inextensible textiles. The model considers friction, contacts, and inextensibility constraints all at the same time without any decoupling.…
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…
We study the 2D linear stability analysis of a deformable solid of a finite height $H$, steadily sliding on top of a rigid solid within a generic rate-and-state friction type constitutive framework, fully accounting for elastodynamic…
Many fundamental challenges in robotics, based in manipulation or locomotion, require making and breaking contact with the environment. To represent the complexity of frictional contact events, impulsive impact models are especially…
An analytical tool is presented to compute the parametric regions of flutter instabilities of a two-dimensional flexible foil elastically mounted. It is based on a new analytical formulation of the unsteady fluid-estructure interaction…
In order to examine the influence of system dynamics on sliding friction, we introduce the so-called micro-walking machine. This model consists of a rigid body with a number of elastic contact spots that is pulled by a constantly moving…
This study presents a dynamic model of a universal joint (U-Joint) with radial clearance, focusing on the rigid unilateral frictional contacts at the crosspiece and yoke interfaces. Unlike previous models that neglect crosspiece inertia and…
We present a complete numerical analysis for a general discretization of a coupled flow-mechanics model in fractured porous media, considering single-phase flows and including frictionless contact at matrix-fracture interfaces, as well as…
Based on the plenty method, this paper describes a numerical method for 2D non-smooth contact problems with Coulomb friction and bilateral constraints and its application to the simulation of statics and dynamics for a frictional…
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…
A key challenge in 3D finite element models of coupled railway vehicle-bridge dynamics is the rigorous definition of kinematic constraints and the development of an efficient, robust solution. This paper presents a novel approach that can…