With the advancement of the field of biotribology, considerable interest has arisen in the study of cell and tissue frictional properties. From the perspective of medical device development, the frictional properties between a rigid surface and underlying cells and tissues are of a particular clinical interest. As with many bearing surfaces, it is likely that contact asperities exist at the siz...

This paper presents a sampling-based planning algorithm for in-hand manipulation of a grasped object using a series of external pushes. A high-level sampling-based planning framework, in tandem with a low-level inverse contact dynamics solver, effectively explores the space of continuous pushes with discrete pusher contact switch-overs. We model the frictional interaction between gripper, grasp...

In this paper, we formulate a semi-implicit time-stepping model for multibody mechanical systems with frictional, distributed compliant contacts. Employing a polyhedral pyramid model for the friction law and a distributed, linear, viscoelastic model for the contact, we obtain mixed linear complementarity formulations for the discrete-time, compliant contact problem. We establish the existence a...

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...

When contacting elastic systems are subjected to periodic loading, frictional slip occurs resulting in energy dissipation. Here we investigate the effect of the relative phase of harmonically varying tangential and normal loads on the frictional dissipation in a very simple uncoupled frictional system. We demonstrate that this effect is substantial when the system experiences periods of separat...

We have studied the variation of frictional force with externally applied load for a Pt-coated atomic force microscope tip in contact with the surface of mica cleaved in ultrahigh vacuum. At low loads, the frictional force varies with load in almost exact proportion to the area of contact as predicted by the Johnson-KendallRoberts ( JKR) theory [K. L. Johnson, K. Kendall, and A. D. Roberts, Pro...

The construction of fast and reliable solvers for contact problems with friction is even nowadays a challenging task. It is well known that contact problems with Coulomb friction have the weak form of a quasi-variational inequality [KO88, HHNL88, NJH80]. For small coefficients of friction, a solution can be obtained by means of a fixed point iteration in the boundary stresses [NJH80]. This fixe...

The contacts between cohesive, frictional particles with sizes in the range 0.1–10μm are the subject of this study. Discrete element model (DEM) simulations rely on realistic contact force models—however, too much details make both implementation and interpretation prohibitively difficult. A rather simple, objective contact model is presented, involving the physical properties of elastic–plasti...