相关论文: Incipient Motion Criteria for a Rigid Sediment Gra…
We consider the problem of motion of several rigid bodies immersed in a perfect compressible fluid. Using the method of convex integration we establish the existence of infinitely many weak solutions with {\it a priori} prescribed motion of…
The article discusses the steady motion of a rigid disk of finite thickness rolling on its edge on a horizontal plane under the influence of gravity. The governing equations are presented and two cases allowing for a steady state solution…
The interplay between Coulomb friction and random excitations is studied experimentally by means of a rotating probe in contact with a stationary granular gas. The granular material is independently fluidized by a vertical shaker, acting as…
Brownian motion near soft surfaces is a situation widely encountered in nanoscale and biological physics. However, a complete theoretical description is lacking to date. Here, we theoretically investigate the dynamics of a two-dimensional…
Recent studies show interest in materials with asymmetric friction forces. We investigate terminal motion of a solid body with circular contact area. We assume that friction forces are asymmetric orthotropic. Two cases of pressure…
We study the rolling motion of a small solid sphere on a surface patterned rubber substrate in an external field with and without a noise. In the absence of the noise, the ball does not move below a threshold force above which it…
Experiments on the motion of a particle on an inclined rough plane have yielded some surprising results. For example, it was found that the frictional force acting on the ball is viscous, {\it i.e.} proportional to the velocity rather than…
A huge number of technological and biological systems involves the lubricated contact between rough surfaces of soft solids in relative accelerated motion. Examples include dynamical rubber seals and the human joints. In this study we…
In analysing fluid forces on a moving body, a natural approach is to seek a component due to viscosity and an `inviscid' remainder. It is also attractive to decompose the velocity field into irrotational and rotational parts, and apportion…
This paper evaluates state-of-the-art contact models at predicting the motions and forces involved in simple in-hand robotic manipulations. In particular it focuses on three primitive actions --linear sliding, pivoting, and rolling-- that…
A novel approach is presented for computing flexible body dynamics based on conventional structural dynamics models. This approach innovatively captures the rigid body motion component embedded within a flexible body's movement, generates…
We consider a point mass on a horizontal plane. The motion of the plane is given. The plane moves periodically such that all its points have congruent closed trajectories. There is the Coulomb friction between the point mass and the plane.…
A "circular orbital forcing" makes a chosen point on a rigid body follow a circular motion while the body spins freely around that point. We investigate this problem for the planar motion of a body subject to dry friction. We focus on the…
Rubber friction is of major practical importance in applications such as tires, rubber seals, and footwear. This review article focuses on the theory and experimental studies of rubber friction on substrates with random roughness. We…
This work is devoted to a systematic exposition of the dynamics of a rigid body, considered as a system with kinematic constraints. Having accepted the variational problem in accordance with this, we no longer need any additional postulates…
We investigate and model the initiation of motion of a single particle on a structured substrate within an oscillatory boundary layer flow, following a mechanistic approach. By deterministically relating forces and torques acting on the…
We present a novel convex formulation that models rigid and deformable bodies coupled through frictional contact. The formulation incorporates a new corotational material model with positive semi-definite Hessian, which allows us to extend…
We study the ascending motion of a disk rolling on an incline when its center of mass lies outside the disk axis. The problem is suitable as laboratory project for a first course in mechanics at the undergraduate level and goes beyond…
Conditions are investigated under which a body lying at rest or rocking on a solid horizontal surface can be removed from the surface by hydrodynamic forces or instead continues rocking. The investigation is motivated by recent observations…
Legged robot locomotion on a dynamic rigid surface (i.e., a rigid surface moving in the inertial frame) involves complex full-order dynamics that is high-dimensional, nonlinear, and time-varying. Towards deriving an analytically tractable…