This paper presents a novel approach for grasp optimization considering contact position and object information uncertainties. In practice, it is hard to grasp an object at the designated or planned contact positions, as errors in measurement, estimation, and control usually exist. Therefore, we first formulate the influences of contact uncertainties on joint torques, contact wrenches, and fric...

An investigation into the properties of granular materials is undertaken via numerical simulation. These simulations highlight that frictional contact, a defining characteristic of dry granular materials, and interfacial debonding, an expected deformation mode in plastic bonded explosives, must be properly modeled. Frictional contact and debonding algorithms have been implemented into FLIP, a p...

We have examined the fabric-to-metal surface and fabric-to-fabric frictional characteristics (in both warp and weft directions) of a series of fabrics containing 100% polyester, 100% viscose, and P/C & P/V blends with different blend proportions. It has been observed that the normal load and the frictional force follow a logarithmic relationship for all the fabrics. The nature of fabric frictio...

We report a joint experimental and theoretical investigation of cyclic training of amorphous frictional granular assemblies, with special attention to memory formation and retention. Measures of dissipation and compactification are introduced, culminating with a proposed scaling law for the reducing dissipation and increasing memory. This scaling law is expected to be universal, insensitive to ...

In this article we consider one-dimensional linear thermoelastic system of Timoshenko type with linear frictional damping and a distributed delay acting on the displacement equation. The heat flux of the system is governed by Cattaneo’s law. Under suitable assumption on the weight of the delay and that of frictional damping, we establish the well-posedness result and prove that the system is ex...

Examining a nonlinear instability of sliding rate on a frictional interface of elastic bodies, we investigate whether laboratory-constrained frictional relations suggest universal scaling under even the simplest of configurations. We find blowup solutions by solving an equivalent, classical problem in fracture mechanics. The solutions are fixed points of a dynamical system and we show that thei...

[1] A central problem in studies of fault interaction and earthquake triggering is that of quantifying changes in frictional strength and the constitutive response caused by dynamic stressing. We imposed normal stress vibrations on creeping laboratory shear zones to investigate the process of dynamic weakening and the conditions under which resonant frictional behavior occurs. Layers of quartz ...

Because of small surface area to volume ratios nanoscale devices can exhibit dominant surface forces that can quickly degrade unlubricated contacting surfaces. While fluorinated materials have been widely used as lubricants, because of their low critical surface tension and high thermal and mechanical stability, fluorinated monolayer coatings, which are suitable for lubricating nanoscale device...