In this paper, we study mixed variational nite element methods for the unilateral problems arising in contact mechanics.The presented discrete spaces can handle the case of non matching meshes in the contact area. We rst state the static problem and then extend it to the frictional contact case, and end with the dynamic frictional problem.

The nonlinear system becomes an area with numerous investigations over the past decades. The conventional modal analysis could not be  applied on nonlinear continuous system which makes it impossible to construct the reduced order models and obtain system response based on limited number of measurement points. Nonlinear normal modes provide a useful tool for extending modal analysis to nonlinea...

In this paper, dynamic behavior of nanoparticle motion during nanoprobe-based manipulation is investigated. Pushing, pulling or picking manipulation of the particles results in different behavior of rolling, sliding, sticking, or rotation. For a given point of contact of the nanoprobe tip on the particle, nanoprobe load magnitude and direction and critical frictional forces are obtained in all ...

We introduce a promising new approach to dynamic simulation called impulse based simulation The dis tinguishing feature of this method is the uni cation of all types of contact colliding rolling sliding and resting under a single framework non colliding con tacts are simulated as a series of tiny microcollisions The approach is simpler and more robust than previous constraint based methods Simu...

The problem due to the statically indeterminate contact forces arising in indeterminate frictional enveloping grasps is addressed in the paper. First of all, we show that the statical model for the contact forces is incomplete in the sense that the mathematical frictional forces may have an infeasible component. To resolve this infeasibility, we directly derive the enveloping grasp infeasibilit...

In this paper we are interested in the dynamics and numerical treatment of a rolling disk on a flat support. The objective of the paper is to develop a numerical model which is able to simulate the dynamics of a rolling disk taking into account various kinds a friction models (resistance against sliding, pivoting and rolling). A mechanical model of a rolling disk is presented in the framework o...

ABSTRACT: In this paper, shakedown limits of non-homogeneous soils in a half-space under rolling and sliding surface loads are investigated. The inhomogeneity of the soil is described by a power law for the variation of Young’s modulus with the depth. Mohr-Coulomb criterion is employed to characterise the cohesive-frictional behaviour of the soil. Analytical solutions to the elastic stress fiel...

Simulating frictional contact between objects with complex geometry is important for 6-DoF haptic rendering applications. For example, friction determines whether components can be navigated past narrow clearances in virtual assembly. State-of-the-art haptic rendering of frictional contact either augments penalty contact with frictional penalty springs, which do not prevent sliding and cannot r...

Temper rolling or skin pass rolling is one of cold rolling processes composed of a horizontal pass cold rolling mill stand. In this process, the thick strip is subjected to very light reduction (0.5–4%) in thickness in the presence of high friction amplitudes. One of the basic parameters of strip rolling processes is temper rolling force. A new rolling force model has been proposed for temper r...

Theoretical models for predicting penetration of non-driving (towed) rigid cylindrical wheels rolling on frictional/cohesive soils are presented. The models allow for investigating the influence of soil parameters and wheel geometry on the relationship between the inclined rolling force and wheel sinkage in the presence of permanently formed ruts. The rolling process is simulated numerically in...