Simulations of the Static Friction Due to Adsorbed Molecules

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 a simple hard sphere model.Comment: 13 pages, 13 figure

Velocity dependence of joint friction in robotic manipulators with gear transmissions

This paper analyses the problem of modelling joint friction in robotic manipulators with gear transmissions at joint velocities varying from close to zero until their maximum appearing values. It is shown that commonly used friction models that incorporate Coulomb, (linear) viscous and Stribeck components are inadequate to describe the friction behaviour for the full velocity range. A new friction model is proposed that relies on insights from tribological models. The basic friction model of two lubricated discs in rolling-sliding contact is used to analyse viscous friction and friction caused by asperity contacts inside gears and roller bearings of robot joint transmissions. The analysis shows different viscous friction behaviour for gears and pre-stressed bearings. The sub-models describing the viscous friction and the friction due to the asperity contacts are combined into two friction models; one for gears and one for the pre-stressed roller bearings. In this way, a new friction model [1] is developed that accurately describes the friction behaviour in the sliding regime with a minimal and physically sound parametrisation. The model is linear in the parameters that are temperature dependent, which allows to estimate these parameters during the inertia parameter identification experiments. The model, in which the Coulomb friction effect has disappeared, has the same number of parameters as the commonly used Stribeck model [2]. The model parameters are identified experimentally on a St ¨aubli RX90 industrial robot

Material Recognition CNNs and Hierarchical Planning for Biped Robot Locomotion on Slippery Terrain

In this paper we tackle the problem of visually predicting surface friction for environments with diverse surfaces, and integrating this knowledge into biped robot locomotion planning. The problem is essential for autonomous robot locomotion since diverse surfaces with varying friction abound in the real world, from wood to ceramic tiles, grass or ice, which may cause difficulties or huge energy costs for robot locomotion if not considered. We propose to estimate friction and its uncertainty from visual estimation of material classes using convolutional neural networks, together with probability distribution functions of friction associated with each material. We then robustly integrate the friction predictions into a hierarchical (footstep and full-body) planning method using chance constraints, and optimize the same trajectory costs at both levels of the planning method for consistency. Our solution achieves fully autonomous perception and locomotion on slippery terrain, which considers not only friction and its uncertainty, but also collision, stability and trajectory cost. We show promising friction prediction results in real pictures of outdoor scenarios, and planning experiments on a real robot facing surfaces with different friction

Understanding the friction mechanisms between the human finger and flat contacting surfaces in moist conditions

Human hands sweat in different circumstances and the presence of sweat can alter the friction between the hand and contacting surface. It is, therefore, important to understand how hand moisture varies between people, during different activities and the effect of this on friction. In this study, a survey of fingertip moisture was done. Friction tests were then carried out to investigate the effect of moisture. Moisture was added to the surface of the finger, the finger was soaked in water, and water was added to the counter-surface; the friction of the contact was then measured. It was found that the friction increased, up until a certain level of moisture and then decreased. The increase in friction has previously been explained by viscous shearing, water absorption and capillary adhesion. The results from the experiments enabled the mechanisms to be investigated analytically. This study found that water absorption is the principle mechanism responsible for the increase in friction, followed by capillary adhesion, although it was not conclusively proved that this contributes significantly. Both these mechanisms increase friction by increasing the area of contact and therefore adhesion. Viscous shearing in the liquid bridges has negligible effect. There are, however, many limitations in the modelling that need further exploration

Friction dependence of shallow granular flows from discrete particle simulations

A shallow-layer model for granular flows is completed with a closure relation for the macroscopic bed friction or basal roughness obtained from micro-scale discrete particle simulations of steady flows. We systematically vary the bed friction by changing the contact friction coefficient between basal and flowing particles, while the base remains geometrically rough. By simulating steady uniform flow over a wide parameter range, we obtain a friction law that is a function of both flow and bed variables. Surprisingly, we find that the macroscopic bed friction is only weakly dependent on the contact friction of bed particles and predominantly determined by the properties of the flowing particles

Vacuum Friction

We know that in empty space there is no preferred state of rest. This is true both in special relativity but also in Newtonian mechanics with its associated Galilean relativity. It comes as something of a surprise, therefore, to discover the existence a friction force associated with spontaneous emission. he resolution of this paradox relies on a central idea from special relativity even though our derivation of it is non-relativistic. We examine the possibility that the physics underlying this effect might be explored in an ion trap, via the observation of a superposition of different mass states.Comment: 8 pages, 2 figures. Published in Journal of Modern Optics on 14 September 2017. Version 2 with a corrected typo on page

Quantum field theory of the van der Waals friction

The van der Waals friction between two semi-infinite solids, and between a small neutral particle and semi-infinite solid is reconsidered on the basis of thermal quantum field theory in the Matsubara formulation. The calculation of the friction to linear order in the sliding velocity is reduced to the finding of the equilibrium Green functions. Thus this approach cab be extended for bodsies with complex geometry. The friction calculated in this approach agrees with the friction calculated using a dynamical modification of the Lifshitz theory, which is based on the fluctuation-dissipation therem. We show that the van der Waals fricxtion can be measured in non-contact friction experiment using state-of-the art equipment