The onset of frictional motion is mediated by rupture-like slip fronts, which nucleate locally and propagate eventually along the entire interface causing global sliding. The static friction coefficient is a macroscopic measure of the applied force at this particular instant when the frictional interface loses stability. However, experimental studies are known to present important scatter in the measurement of static friction; the origin of which remains unexplained. Here, we study the nucleation of local slip at interfaces with slip-weakening friction of random strength and analyze the resulting variability in the measured global strength. Using numerical simulations that solve the elastodynamic equations, we observe that multiple slip patches nucleate simultaneously, many of which are stable and grow only slowly, but one reaches a critical length and starts propagating dynamically. We show that a theoretical criterion based on a static equilibrium solution predicts quantitatively well the onset of frictional sliding. We develop a Monte-Carlo model by adapting the theoretical criterion and pre-computing modal convolution terms, which enables us to run efficiently a large number of samples and to study variability in global strength distribution caused by the stochastic properties of local frictional strength. The results demonstrate that an increasing spatial correlation length on the interface, representing geometric imperfections and roughness, causes lower global static friction. Conversely, smaller correlation length increases the macroscopic strength while its variability decreases. We further show that randomness in local friction properties is insufficient for the existence of systematic precursory slip events. Random or systematic non-uniformity in the driving force, such as potential energy or stress drop, is required for arrested slip fronts. Our model and observations...
We investigate the propagation of the slip front in the elastic body on the rigid substrate. We first obtain the slip profile and the slip front velocity of the steady state by employing the local friction law with the quadratic form of the slip velocity and with vanishing static friction stress. The macroscopic static friction stress emerges spontaneously, which is expressed in terms of the parameter emerging in the friction law. For the model with viscosity, the macroscopic static friction stress again emerges spontaneously. The analytical treatment gives estimations for two slip front propa…
We present a modified model based on shear rate and aging time dependent static friction between a soft solid such as gelatin hydrogel and a hard surface for instance glass surface. Earlier the model for static friction (Juvekar and Singh, 2016) considered only the bond rupture process as a result, the friction model over predicts the static friction in the experiment. The friction model now takes into account both formation and rupture of molecular chains at the sliding interface. It is also assumed that age of the newly formed bonds during the rupture process is the same as the aging time. A…
In this note we introduce a hierarchy of phase spaces for static friction, which give a graphical way to systematically quantify the directional dependence in static friction via subregions of the phase spaces. We experimentally plot these subregions to obtain phenomenological descriptions for static friction in various examples where the macroscopic shape of the object affects the frictional response. The phase spaces have the universal property that for any experiment in which a given object is put on a substrate fashioned from a chosen material with a specified nature of contact,the frictio…
In this article, we present a mathematical model that answers a classical question concerning how much force, which is generally called static friction force, will it require to initiate the motion of a soft solid block such as gel, rubber or elastomer on a hard surface for instance glass surface. The model uses population balance of the bonds between the polymer chains of the soft solid and the hard surface to estimate rate and aging time dependent static friction. The model predicts that under certain range of the pulling velocity, the friction stress at the onset of sliding (static friction…
We discuss the results of simulations of an intruder pulled through a two-dimensional granular system by a spring, using a model designed to lend insight into the experimental findings described by Kozlowski et al. [Phys. Rev. E, 100, 032905 (2019)]. In that previous study the presence of basal friction between the grains and the base was observed to change the intruder dynamics from clogging to stick-slip. Here we first show that our simulation results are in excellent agreement with the experimental data for a variety of experimentally accessible friction coefficients governing interactions …
The sliding of a solid object on a solid substrate requires a shear force that is larger than the maximum static friction force. It is commonly believed that the maximum static friction force is proportional to the loading force and does not depend on the apparent contact area. The ratio of the maximum static friction force to the loading force is called the static friction coefficient mM, which is considered to be a constant. Here, we conduct experiments demonstrating that the static friction force of a slider on a substrate follows a novel friction law under certain conditions. The magnitude…
The static friction between crystalline surfaces separated by a molecularly thin layer of adsorbed molecules is calculated using molecular dynamics simulations. These molecules naturally lead to a finite static friction that is consistent with macroscopic friction laws. Crystalline alignment, sliding direction, and the number of adsorbed molecules are not controlled in most experiments and are shown to have little effect on the friction. Temperature, molecular geometry and interaction potentials can have larger effects on friction. The observed trends in friction can be understood in terms of …
The static friction preventing the free sliding of nanosized rare gas solid islands physisorbed on incommensurate crystalline surfaces is not completely understood. Simulations modeled on Kr/Pb(111) highlights the importance and the scaling behavior of the island's edge contribution to static friction.
We present a field theoretic model for friction, where the friction coefficient between two surfaces may be calculated based on elastic properties of the surfaces. We assume that the geometry of contact surface is not unusual. We verify Amonton's laws to hold that friction force is proportional to the normal load.This model gives the opportunity to calculate the static coefficient of friction for a few cases, and show that it is in agreement with observed values. Furthermore we show that the coefficient of static friction is independent of apparent surface area in first approximation.
We develop a theoretical description for mechanically stable frictional packings in terms of the difference between the total number of contacts required for isostatic packings of frictionless disks and the number of contacts in frictional packings, $m=N_c^0-N_c$. The saddle order $m$ represents the number of unconstrained degrees of freedom that a static packing would possess if friction were removed. Using a novel numerical method that allows us to enumerate disk packings for each $m$, we show that the probability to obtain a packing with saddle order $m$ at a given static friction coefficie…
Friction is one of the fundamental issues in physics, mechanics and material science with lots of practical applications. However, the understanding of macroscopic friction phenomena from microscopic aspect is still on the way. In this work, molecular dynamic simulations are performed to investigate the static friction between two planar crystal surfaces. The friction force experienced by each atom is tracked and the statistical characteristics of atomic friction force are illuminated. More importantly, the influences of normal load and temperature on the statistical features are generalized. …
A microscopic theory for the ubiquitous phenomenon of static friction is presented. Interactions between two surfaces are modeled by an energy penalty that increases exponentially with the degree of surface overlap. The resulting static friction is proportional to load, in accordance with Amontons' laws. However the friction coefficient between bare surfaces vanishes as the area of individual contacts grows, except in the rare case of commensurate surfaces. An area independent friction coefficient is obtained for any surface geometry when an adsorbed layer of mobile atoms is introduced between…
A flexible fiber model based on the discrete element method (DEM) is presented and validated for the simulation of uniaxial compression of flexible fibers in a cylindrical container. It is found that the contact force models in the DEM simulations have a significant impact on compressive forces exerted on the fiber bed. Only when the geometry-dependent normal contact force model and the static friction model are employed, the simulation results are in good agreement with experimental results. Systematic simulation studies show that the compressive force initially increases and eventually satur…
Sliding friction across a thin soft lubricant film typically occurs by stick-slip, the lubricant fully solidifying at stick, yielding and flowing at slip. The static friction force per unit area preceding slip is known from molecular dynamics (MD) simulations to decrease with increasing contact area. That makes the large-size fate of stick-slip unclear and unknown; its possible vanishing is important as it would herald smooth sliding with a dramatic drop of kinetic friction at large size. Here we formulate a scaling law of the static friction force, which for a soft lubricant is predicted to d…
Friction in static and sliding contact of rough surfaces is important in numerous physical phenomena. We seek to understand macroscopically observed static and sliding contact behavior as the collective response of a large number of microscopic asperities. We develop an efficient numerical framework that can be used to investigate how the macroscopic response of multiple frictional contacts depends on long-range elastic interactions, different constitutive assumptions about the deforming contacts and their local shear resistance, and surface roughness. We approximate the contact between two ro…
We describe a 2D spring-block model for the transition from static to kinetic friction at an elastic slider/rigid substrate interface obeying a minimalistic friction law (Amontons-Coulomb). By using realistic boundary conditions, a number of previously unexplained experimental results on precursory micro-slip fronts are successfully reproduced. From the analysis of the interfacial stresses, we derive a prediction for the evolution of the precursor length as a function of the applied loads, as well as an approximate relationship between microscopic and macroscopic friction coefficients. We show…
The nature of an instability that controls the transition from static to dynamical friction is studied in the the context of an array of frictional disks that are pressed from above on a substrate. In this case the forces are all explicit and Newtonian dynamics can be employed without any phenomenological assumptions. We show that an oscillatory instability that had been discovered recently is responsible for the transition, allowing individual disks to spontaneously reach the Coulomb limit and slide with dynamic friction. The transparency of the model allows a full understanding of the phenom…
A model of friction with plastic contact nudging: Amontons-Coulomb laws, aging of static friction, and non-monotonic Stribeck curves with finite quasistatic limit
We propose a statistical model for static and sliding friction between rough surfaces. Approximating the contact between rough surfaces by the contact of an ensemble of one-dimensional viscoelastic elements with a rough rigid surface, we study the collective behavior of the elements. We find that collective response of the contacts can lead to macroscopic behavior very different from the microscopic behavior. Specifically, various observed features of friction emerge as collective phenomena, without postulating them directly at the microscale. We discuss how parameters in our model can be rela…
We investigate the evolution of multi-scale mechanical properties towards the macroscopic mechanical instability in frictional granular media under multiaxial compressive loading. Spatial correlations of shear stress redistribution following nucleating contact sliding events and shear strain localization are investigated. We report growing correlation lengths associated to both shear stress and shear strain fields that diverge simultaneously as approaching the transition to a dense flow regime. This shows that the transition from quasi static to dense flow regime can be interpreted as a critic…
Amontons' law states that the maximum static friction force on a solid object is proportional to the loading force and is independent of the apparent contact area. This law indicates that the static friction coefficient does not depend on the external pressure or object shape. Here, we numerically investigate the sliding motion of a 3D viscoelastic block on a rigid substrate using the finite element method (FEM). The macroscopic static friction coefficient decreases with an increase in the external pressure, length, or width of the object, which contradicts Amontons' law. Precursor slip occurs…
The evolution of fractal surface structures with flattening of asperities was investigated using isotropically roughened aluminium surfaces loaded in compression. It was found that asperity amplitude, mean roughness and fractal dimension decrease through increased compressive stress and number of loading events. Of the samples tested, surfaces subjected to an increased number of loading events exhibited the most significant surface deformation and were observed to exhibit higher levels of static friction at an interface with a single crystal flat quartz substrate. This suggests that the freque…
Tribological phenomena are governed by combined effects of material properties, topology and surface-chemistry. We study the interplay of multiscale surface structures with molecular-scale interactions towards interpreting static frictional interactions at fractal interfaces. By spline-assisted-discretization we analyse asperity interactions in pairs of contacting fractal surface-profiles. For elastically deforming asperities, force analysis reveals greater friction at surfaces exhibiting higher fractality, with increasing molecular-scale friction amplifying this trend. Increasing adhesive str…
Numerous studies have proved the usefulness of surface patterning for the modification of tribological performances of sliding contacts. Here we investigate the effects of patterning on the tribological properties of a slider over a solid substrate. We show that, depending on the numerical density of surface grooves, the tribological properties can change significantly. A low density of surface patterning leads to a decrease of static friction force, while a higher density weakens this effect. The decrease is related to a non-uniform distribution of surface stress induced by patterning. We bel…
The sliding friction force exerted by stochastic linkers interacting with a moving filament is calculated. The elastic properties of the substrate on which the linkers are anchored are shown to strongly influence the friction force. In some cases, the force is maximal for a finite substrate rigidity. Collective effects give rise to a dynamical instability resulting in a stick-slip behaviour, which is substrate-sensitive. The relevance of these results for the motility of crawling cells powered by an actin retrograde flow is discussed.
We study static packings of frictionless and frictional spheres in three dimensions, obtained via molecular dynamics simulations, in which we vary particle hardness, friction coefficient, and coefficient of restitution. Although frictionless packings of hard-spheres are always isostatic (with six contacts) regardless of construction history and restitution coefficient, frictional packings achieve a multitude of hyperstatic packings that depend on system parameters and construction history. Instead of immediately dropping to four, the coordination number reduces smoothly from $z=6$ as the frict…
We simultaneously measure the static friction and the real area of contact between two solid bodies. Under static conditions both quantities increase logarithmically in time, a phenomenon coined aging. Indeed, frictional strength is traditionally considered equivalent to the real area of contact. Here we show that this equivalence breaks down when a static shear load is applied during aging. The addition of such a shear load accelerates frictional aging while the aging rate of the real area of contact is unaffected. Moreover, a negative static shear - pulling instead of pushing - slows frictio…
Variable power transmission in mechanical systems is often achieved by devices, e.g., clutches and brakes, that use dry friction. In these systems, the variability in power transmission is brought about by engaging and disengaging the friction plates. Though commonly used, this method of making the coupling noisy is not as versatile as their electrical analog. An alternative method would be to intermittently vary the frictional force. In this paper, we demonstrate a self-organized way to tune the noise in the frictional coupling between two surfaces which are in relative motion with each other…
We consider the effect of differing coefficients of static and dynamic friction coefficients on the behaviour of contacts involving microslip. The classic solutions of Cattaneo and Mindlin are unchanged if the transition in coefficients is abrupt, but if it occurs over some small slip distance, the solution has some mathematical similarities with those governing the normal tractions in adhesive contact problems. In particular, if the transition to dynamic slip occurs over a sufficiently small area, we can identify a `JKR' approximation, where the transition region is condensed to a line. A loc…
Contact mechanics-based models for the friction of nominally flat rough surfaces have not been able to adequately capture certain key experimentally observed phenomenona, such as the transition from a static friction peak to a lower level of sliding friction and the shear-induced contact area reduction that has been observed in the pre-sliding regime especially for soft materials. Here, we propose a statistical model based on physically-rooted contact mechanics laws describing the micromechanics of individual junctions. The model considers the quasi-static tangential loading, up to full slidin…
The University of Tokyo（东京大学）；Central University of Rajasthan（拉贾斯坦中央大学）；Université de Lille（里尔大学）；ESPCI Paris（巴黎高等物理化工国立工程学院）；Aoyama Gakuin University（青山学院大学）
We use a coarse-grained molecular dynamics model to study the electrophoretic behaviour of flexible polyelectrolyte chains. We first characterize the static properties of the model with respect to the chain length, the polyelectrolyte concentration, additional salt and the influence of an applied external field. Next we investigate the dynamic behaviour in the oligomer range and compare to data obtained by two different experimental methods, namely capillary electrophoresis and PFG-NMR. We find excellent agreement of experiments and simulations when hydrodynamic interactions are accounted for …
Snakes' bodies are covered in scales that make it easier to slide in some directions than in others. This frictional anisotropy allows for sliding locomotion with an undulatory gait, one of the most common for snakes. Isotropic friction is a simpler situation (that arises with snake robots for example) but is less understood. In this work we regularize a model for sliding locomotion to allow for static friction. We then propose a robust iterative numerical method to study the efficiency of a wide range of motions under isotropic Coulomb friction. We find that simple undulatory motions give lit…
We study the steady plane shear flow of a dense assembly of frictional, inelastic disks using discrete simulation and prescribing the pressure and the shear rate. We show that, in the limit of rigid grains, the shear state is determined by a single dimensionless number, called inertial number I, which describes the ratio of inertial to pressure forces. Small values of I correspond to the quasi-static regime of soil mechanics, while large values of I correspond to the collisional regime of the kinetic theory. Those shear states are homogeneous, and become intermittent in the quasi-static regime…
The connection between friction and jamming in granular media, molecular glasses, and complex fluids is explored. The paper first reviews the way friction is measured, the types of results that are observed, and what is known about the geometry of contacts between macroscopic surfaces. Then simple models for the origin of static friction are described. These are unable to explain the universal observation of static friction between macroscopic objects. The effects of surface roughness and chemical heterogeneity are discussed, and shown to yield exponentially weak static friction in our three d…
The transition from static to dynamic friction is often described as a fracture-like instantaneous slip. However, studies on slow sliding processes aimed at understanding frictional instabilities and earthquakes report slow friction transients that are usually explained by empirical rate-and-state formulations. We perform very slow ($\sim nm/s$) macroscopic-scale sliding experiments and show that the onset of frictional slip is governed by continuous non-monotonic dynamics originating from a competition between contact aging and shear-induced rejuvenation. This allows to describe both our non-…
Slow and dense granular flows often exhibit narrow shear bands, making them ill-suited for a continuum description. However, smooth granular flows have been shown to occur in specific geometries such as linear shear in the absence of gravity, slow inclined plane flows and, recently, flows in split-bottom Couette geometries. The wide shear regions in these systems should be amenable to a continuum description, and the theoretical challenge lies in finding constitutive relations between the internal stresses and the flow field. We propose a set of testable constitutive assumptions, including rat…
In a pioneer experiment, Bohlein et al. realized the controlled sliding of two-dimensional colloidal crystals over laser-generated periodic or quasi-periodic potentials. Here we present realistic simulations and arguments which besides reproducing the main experimentally observed features, give a first theoretical demonstration of the potential impact of colloid sliding in nanotribology. The free motion of solitons and antisolitons in the sliding of hard incommensurate crystals is contrasted with the soliton-antisoliton pair nucleation at the large static friction threshold Fs when the two lat…
We measure the quasi-static friction force acting on intruders moving downwards into a granular medium. By utilizing different intruder geometries, we demonstrate that the force acts locally normal to the intruder surface. By altering the hydrostatic loading of grain contacts by a sub-fluidizing airflow through the bed, we demonstrate that the relevant frictional contacts are loaded by gravity rather than by the motion of the intruder itself. Lastly, by measuring the final penetration depth versus airspeed and using an earlier result for inertial drag, we demonstrate that the same quasi-static…
In this study, we numerically investigated the mechanical responses and trajectories of frictional granular particles under oscillatory shear in the reversible phase where particle trajectories form closed loops below the yielding point. When the friction coefficient is small, the storage modulus exhibits softening, and the loss modulus remains finite in the quasi-static limit. As the friction coefficient increases, the softening and residual loss modulus are suppressed. The storage and loss moduli satisfy scaling laws if they are plotted as functions of the areas of the loop trajectories divi…
We present experimental data of the motion of a rimmed checker's piece on a polished horizontal tray, in two specific conditions: with the substrate harmonically shaken at 20 Hz, and with a static substrate. The latter experiment immediately yields the dynamic friction coefficient. The harmonic experimental results are very sensitive on the static friction coefficient, which is not even a percent higher than the dynamic one. Due to the low harmonic acceleration of the driver, the static friction has enormous influence on the slider's motion. We modeled the slider's motion using a discrete Mark…
The response to a localized force provides a sensitive test for different models of stress transmission in granular solids. The elasto-plastic models traditionally used by engineers have been challenged by theoretical and experimental results which suggest a wave-like (hyperbolic) propagation of the stress, as opposed to the elliptic equations of static elasticity. Numerical simulations of two-dimensional granular systems subject to a localized external force are employed to examine the nature of stress transmission in these systems as a function of the magnitude of the applied force, the fric…
We propose the description of the granular matter which is based on distribution of dry friction coefficients. Using such a concept and a simple one-dimensional packing of grains we solve the silo problem. The friction coefficients at contacts are determined both by geometry of packing configuration and the stress distribution in a medium. Within such an approach the Janssen coefficient is determined and its dependence on the particle-particle and boundary-particle friction coefficients is obtained. Also we investigate the conditions for the appearance of the maximum in the pressure distributi…
The granular jamming transition is experimentally investigated in a two-dimensional system of frictional, bi-dispersed disks subject to quasi-static, uniaxial compression at zero granular temperature. Currently accepted results show the jamming transition occurs at a critical packing fraction $ϕ_c$. In contrast, we observe the first compression cycle exhibits {\it fragility} - metastable configuration with simultaneous jammed and un-jammed clusters - over a small interval in packing fraction ($ϕ_1 < ϕ< ϕ_2$). The fragile state separates the two conditions that define $ϕ_c$ with an exponential …
Amorphous packings of frictionless, spherical particles are isostatic at jamming onset, with the number of constraints (contacts) equal to the number of degrees of freedom. Their structural and mechanical properties are controlled by the interparticle contact network. In contrast, amorphous packings of frictional particles are typically hyperstatic at jamming onset. We perform extensive numerical simulations in two dimensions of the geometrical asperity (GA) model for static friction, to further investigate the role of isostaticity. In the GA model, interparticle forces are obtained by summing…
The onset of frictional motion is mediated by the dynamic propagation of a rupture front, analogous to a shear crack. The rupture front nucleates quasi-statically in a localized region of the frictional interface and slowly increases in size. When it reaches a critical nucleation length it becomes unstable, propagates dynamically and eventually breaks the entire interface, leading to macroscopic sliding. The nucleation process is particularly important because it determines the stress level at which the frictional interface fails, and therefore, the macroscopic friction strength. However, the …
A two-dimensional strongly-coupled dusty plasma is modeled using Langevin and frictionless molecular dynamical simulations. The static viscosity $η$ and the wave-number-dependent viscosity $η(k)$ are calculated from the microscopic shear in the random motion of particles. A recently developed method of calculating the wave-number-dependent viscosity $η(k)$ is validated by comparing the results of $η(k)$ from the two simulations. It is also verified that the Green-Kubo relation can still yield an accurate measure of the static viscosity $η$ in the presence of a modest level of friction as in du…
Classically, the quantity of contact area $A_R$ between two bodies is considered a proxy for the force of friction. However, bond density across the interface - quality of contact - is also relevant, and contemporary debate often centers around the relative importance of these two factors. In this work, we demonstrate that a third factor, often overlooked, plays a significant role in static frictional strength: the distribution of contact. We perform static friction measurements, $μ$, on three pairs of solid blocks while imaging the contact plane. By using linear regression on hundreds of imag…
We measure the displacement response of a frictional multicontact interface between identical polymer glasses to a biased shear force oscillation. We evidence the existence, for maximum forces close below the nominal static threshold, of a jamming creep regime governed by an ageing-rejuvenation competition acting within the micrometer-sized contacting asperities. Quantitative analysis of the creep curves suggests that another such mechanism might be at work within the nanometer-thick adhesive junctions.
We present a minimal quasistatic 1D model describing the kinematics of the transition from static friction to stick-slip motion of a linear elastic block on a rigid plane. We show how the kinematics of both the precursors to frictional sliding and the periodic stick-slip motion are controlled by the amount of friction-induced torque at the interface. Our model provides a general framework to understand and relate a series of recent experimental observations, in particular the nucleation location of micro-slip instabilities and the build up of an asymmetric field of real contact area.
Static packings of frictional rigid particles are investigated by means of discrete element simulations. We explore the ensemble of allowed force realizations in the space of contact forces for a given packing structure. We estimate the extent of force indeterminacy with different methods. The indeterminacy exhibits a nonmonotonic dependence on the interparticle friction coefficient. We verify directly that larger force-indeterminacy is accompanied by a more robust behavior against local perturbations. We also investigate the local indeterminacy of individual contact forces. The probability di…
