Modeling friction on a mesoscale: master equation for the earthquakelike model

The earthquakelike model with a continuous distribution of static thresholds is used to describe the properties of solid friction. The evolution of the model is reduced to a master equation which can be solved analytically. This approach naturally describes stick-slip and smooth-sliding regimes of tribological systems within a framework which separates the calculation of the friction force from the studies of the properties of the contacts.     

Nonlinear spring model for frictional stick-slip motion

Frictional stick-slip dynamics is discussed using a model of one oscillator pulled by a nonlinear spring force. We focus our attention on the nonlinear spring parameter k₀. The dynamics of the model is carefully studied, both numerically and analytically. Our numerical investigation, which involves bifurcation diagrams, shows a rich spectrum of dynamical behavior including periodic, quasi-periodic and chaotic states. On the other hand, and for a good selection of parameters , the motion of the particle involves periodic stick-slip, erratic and intermittent motions, characterized by force fluctuations, and sliding. This study suggests that the transition between each of motion strongly depends on the nonlinear parameter k₀. The system also displays resonance at fractional frequencies of the oscillator.     

A numerical study on stick-slip motion of a brake pad in steady sliding

A numerical model for an elastic brake pad sliding under constant load and with constant velocity over a rigid surface is investigated by finite element analysis. The geometry is taken to be two-dimensional, the contact is assumed to follow the laws of continuum mechanics and temporal and spatial resolution are such that dynamical effects localized at the interface are resolved. It turns out that at the contact interface localized slip events occur either in the form of long-lasting slip pulses, or in the form of brief local relaxations. Macroscopically steady sliding, macroscopic stick-slip motion or slip-separation dynamics occurs, depending on the macroscopic relative velocity. While structural oscillations of the brake pad do not seem to play a significant role during steady sliding at least one structural oscillation mode becomes synchronized with the interfacial dynamics during stick-slip or slip-separation motion. Assuming a given friction law for the interface, the macroscopically observed friction coefficient depends considerably on the underlying dynamics on the interface.     

Creep of a fracture line in paper peeling

The slow motion of a crack line is studied via an experiment in which sheets of paper are split into two halves in a "peel-in-nip" (PIN) geometry under a constant load, in creep. The velocity-force relation is exponential. The dynamics of the fracture line exhibits intermittency, or avalanches, which are studied using acoustic emission. The energy statistics is a power law, with the exponent beta ~ 1.8 +/- 0.1. Both the waiting times between subsequent events and the displacement of the fracture line imply complicated stick-slip dynamics. We discuss the correspondence to tensile PIN tests and other similar experiments on in-plane fracture and the theory of creep for elastic manifolds.     

Modeling of the dynamic contact in stick-slip microdrives using the method of reduction of dimensionality

In this work we present a new method to describe movements of stick-slip microdrives. On the microscopic scale we model the contact between actuator and slider as a dynamic tangential contact using the method of reduction of dimensionality. On the macroscopic scale simple one- and three-dimensional equations of motion are derived. An algorithm to solve these equations will be introduced. The results of the simulation will be compared qualitatively and quantitatively to experimental investigations. Even for the simplest assumed model it proves that experimental and numerical values correlate excellently.     

Effect of inertia and elasticity on stick-slip motion

A hybrid simulation method is used to study the transition from stick-slip motion to steady sliding as the sliding velocity increases above a critical value v(c). The effects of the geometry, elasticity, and mass M of the sliding object are varied to test competing theories. When the slider has a tapered geometry, v(c) scales as M(-1/2), and the elasticity of the slider is irrelevant. When the slider has a constant columnar cross section, elasticity dominates, and v(c) is independent of mass as M--> infinity. The tapered geometry is more typical of existing measurements, but the columnar geometry could be realized using a nanotube.     

Dilatancy and friction in sheared granular media

We introduce a simple model to describe the frictional properties of granular media under shear. We model the friction force in terms of the horizontal velocity and the vertical position z of the slider, interpreting z as a constitutive variable characterizing the contact. Dilatancy is shown to play an essential role in the dynamics, inducing a stick-slip instability at low velocity. We compute the phase diagram, analyze numerically the model for a wide range of parameters and compare our results with experiments on dry and wet granular media, obtaining a good agreement. In particular, we reproduce the hysteretic velocity dependence of the frictional force. Received 16 November 1999     

Friction through dynamical formation and rupture of molecular bonds

We introduce a model for friction in a system of two rigid plates connected by bonds (springs) and experiencing an external drive. The macroscopic frictional properties of the system are shown to be directly related to the rupture and formation dynamics of the microscopic bonds. Different regimes of motion are characterized by different rates of rupture and formation relative to the driving velocity. In particular, the stick-slip regime is shown to correspond to a cooperative rupture of the bonds. Moreover, the notion of static friction is shown to be dependent on the experimental conditions and time scales. The overall behavior can be described in terms of two Deborah numbers.     

Boundary lubrication properties of materials with expansive freezing

We have performed molecular dynamics simulations of solid-solid contacts lubricated by a model fluid displaying many of the properties of water, particularly its expansive freezing. Near the region where expansive freezing occurs, the lubricating film remains fluid, and the friction force decreases linearly as the shear velocity is reduced. No sign of stick-slip motion is observed, even at the lowest velocities. We give a simple interpretation of these results, and suggest that, in general, good boundary lubrication properties will be found in the family of materials with expansive freezing.     

Peptide friction in water nanofilm on mica surface

Peptide frictions in water nanofilms of various thicknesses on a mica surface are studied via molecular dynamics simulations. We find that the forced lateral motion of the peptide exhibits stick-slip behaviour at low water coverage; in contrast, the smooth gliding motion is observed at higher water coverage. The adsorbed peptide can form direct peptide-surface hydrogen bonds as well as indirect peptide-water-surface hydrogen bonds with the substrate. We propose that the stick-slip phenomenon is attributed to the overall effects of direct and indirect hydrogen bonds formed between the surface and the peptide.     

Dynamics of a mobile system with an internal acceleration-controlled mass in a resistive medium

The dynamics of a mobile system with a movable internal mass is investigated in this paper. Due to the periodic motion of the internal acceleration-controlled mass as well as the anisotropy of the external resistance, the system can move in a resistive medium. Major attention is given to the steady-state motion and stick-slip effect of the system as a whole. For anisotropic Coulomb's dry friction, in light of the non-smooth factors in both the internal control mode and external resistance, method of averaging is adopted to obtain an approximate expression of the average steady-state velocity when the stick-slip motion is absent. Optimizing the parameters of the internal controlled mass enables one to realize a maximal average steady-state velocity of the system. In view of the stick-slip effect, the steady-state motion of the system is classified into eight types, and the characteristics of each type are analyzed. Stick-slip motion is of our interest and receives extra attention. Two strategies of control are put forward based on the characteristics of stick-slip motion. Making use of these two control strategies, directed motions of the system are possible and the direction of the motion can be simply controlled by modifying the values of internal accelerations. To achieve an always forward motion with higher average steady-state velocity, further optimization is carried out. For anisotropic linear resistance, the approximate expression of average steady-state velocity can be also obtained by the method of averaging. No stick-slip motion may occur in this instance. All the analytical results are numerically simulated in order to verify their correctness.     

Viscoelastic depinning of driven systems: mean-field plastic scallops

We have investigated the mean-field dynamics of an overdamped viscoelastic medium driven through quenched disorder. The model allows for the coexistence of pinned and sliding regions and can exhibit continuous elastic depinning or first-order hysteretic depinning. Numerical simulations indicate mean-field instabilities that correspond to macroscopic stick-slip events and lead to premature switching. The model describes the elastic and plastic dynamics of driven vortex arrays in superconductors and other extended disordered systems.     

Influence of static and dynamic internal actions on elastic nonlinear properties of a granulated unconsolidated medium

We have studied the influence of external static (pressure) and dynamic (caused by an elastic wave with a finite amplitude) actions on the linear and nonlinear elastic properties of a granulated unconsolidated medium, which was simulated by steel spheres with diameters of 2 and 4 mm. We have analyzed the equation of state for such a medium taking into account the presence of weakly and strongly deformed contacts between individual spheres. We have obtained expressions for the elasticity coefficient and second- and third-order nonlinear elastic parameters, and we have experimentally studied the influence of external static pressure on their values. We have measured the dependence of the velocity of elastic waves on external static pressure and the probing signal amplitude. In the studied medium, a number of structural phase transitions were observed, related to rearrangement of the packing of spheres, which were caused by both static and dynamic actions. The structural phase transition was accompanied by an anomalous change in the nonlinear elastic parameters of the medium and the velocity of elastic waves. We have analyzed the results based on the Hertz theory of contact interaction.     

Elastic friction drive of surface acoustic wave motor

Importance of elastic deformation control to obtain large output force with a surface acoustic wave (SAW) motor is discussed in this paper. By adding pre-load to slider, stator and slider surfaces are deformed in a few tens nanometer. Appropriate deformation in normal direction against normal vibration displacement amplitude of SAW existed. By moderate deformation, the output force of the SAW motor was enlarged up to about 10 N and no-load speed was 0.7 m/s. To produce this performance, the transducer weight and slider size were only 4.2 g and 4 x 4 mm(2).By traveling wave propagation, surface particles of the SAW device move in elliptical motion. Due to the amplitude of the elliptical motion is 10 or 20 nm order, the contact condition of the slider is very critical. To control the contact condition, namely, the elastic deformation of the slider and stator surface in nanometer order, a lot of projections were fabricated on the slider surface. The projection diameter was 20 micro m. In static condition, the elastic deformation and stress were evaluated with the FEM analysis. From this calculation and the simulation result, it is consider that the wave crest is distorted, hence the elasticity has influence on the friction drive condition.Elastic deformation of the stator surface beneath the projection from the initial position were evaluated. In 4 x 4 mm(2) square area, the sliders had from 1089 to 23,409 projections. Depression was independent to the contact pressure. However, the output force depended on the depression although the projection density were different. From the view point of the output power of the motor, the proper depression was independent to the projection density. Around 25 nm depression, the output force and output power were maximized. This depression value was almost same as the vibration displacement amplitude of the stator transducer.     

Unsteady processes in machines

Couplings in machines and mechanisms always have play and friction. While under loading, stick-slip phenomena and impact events can take place. Such processes are modeled as multibody systems whose structure is time variant or unsteady. The time-variant number of degrees of freedom is due to stick-slip contacts. The coupling characteristics become unsteady, for instance there exist jumps in the loads, if impacts occur. For establishing a uniform theory for such phenomena we use a Lagrangian approach connecting the additional constraint equations and the equations of motion by Lagrange multipliers, which are proportional to the constraint forces. Stick-slip and impact events are evaluated by indicator functions leading to special numerical algorithms for the search of switching points. Contact problems are formulated as a complementarity problem which can be solved by efficient algorithms. The theory is applied to rattling in gears, impact drilling machines, turbine blade dampers, and a woodpecker toy. In some of these applications, chaos as a result of bifurcations is possible, which results from variations in the parameters. (c) 1994 American Institute of Physics.     

Non-cascade frequency-mixing processes for elastic waves in unconsolidated granular materials

Due to disorder, contacts between beads in stressed granular assemblages are not equally loaded. There exists a distribution of contact static loads, containing weakly loaded contacts (the weak contacts) and strongly loaded contacts (the strong contacts involved in the so-called force chains). For an elastic periodic excitation with a given deformation amplitude, the weakest contacts are supposed to clap (periodically open and close) due to the action of the acoustic wave. When increasing the acoustic amplitude, more and more contacts are clapping, progressively producing a non classical spectral signature. Presented spectra have been observed in a laboratory scale experiment, where two frequencies were initially launched in the medium. Results are obtained for increasing pump wave amplitudes and different frequency pairs. These experimental results are in good agreement with a model derived from the Hertz theory of contacts with possibility of clapping.     

Modelling of a two-dimensional Coulomb friction oscillator

Xia proposes a model for investigating the stick-slip motion caused by dry friction of a two-dimensional oscillator under arbitrary excitations. Instead of the harmonic balance method used by most investigators, a numerical approach to investigate the system is provided. The concept of the friction direction angle is introduced to determine the components of the static and kinetic friction force vector and the hyperbolic secant function is introduced to deal with the transition of the friction force from the static to the kinetic state. The friction direction angle is determined by either relative velocities or input forces. With this method the switch conditions for stick state, slip state and stick-slip state can be easily derived. The orbits of the responses, which are either straight line segments, circular or elliptic are obtained. In the general case, the orbit of the response is a complex planar curve. Zero-stop, one-stop, two-stops and more than two-stops per cycle are also found.     

Hysteresis and elastic interactions of microasperities in dry friction

Velocity independent dry friction of a slider upon a base is due to an hysteretic response of relative displacement to a tangential driving force F. We show that the purely elastic model for multistability considered in a previous publication is in no way essential: multistability arises just as well from adhesion. We emphasize the physical consequences of multistability for dynamic/static, a.c./d.c. friction. When the slider is moved from rest by an amount the transition from the zero force static configuration to dynamic behaviour is progressive, spreading on a range equal to the width of the hysteresis cycle. When is small, an elastic restoring force ensues, in agreement with observations. The competition of that elastic pinning with bulk elasticity generates a screening length which we believe is the natural size of Burridge Knopoff blocks. We then study the effect of elastic interactions between asperities: it is weak for dilute asperities, but its long range makes it important. In lowest order the interaction mediated displacement of a given asperity has logarithmically divergent fluctuations: they become comparable to the asperity radius when the slider size reaches another characteristic “Larkin length”, which for dilute micronic asperities is exponentially large. We give arguments suggesting that individually monostable asperities display collective multistability on scales larger than . For individually multistable sites we show that elastic interactions give rise to cascade processes in which the spinodal jump of a given asperity triggers the jump of others. We estimate the size of these cascades that should show up in the noise spectrum. Received: 3 February 1998 / Accepted: 19 March 1998