We study the stability of steady sliding between elastically deformable continua using rate and state dependent friction laws That is done for both elastically identical and elastically dissimilar solids The focus is on linearized response to perturbations of steady-state sliding, and on studying how the positive direct effect (instantaneous increase or decrease of shear strength in response to a respective instantaneous increase or decrease of slip rate) of those laws allows the existence of a quasi-static range of response to perturbations at sufficiently low slip rate We discuss the physical basis of rate and state laws, including the likely basis for the direct effect in thermally activated processes allowing creep slippage at asperity contacts, and estimate activation parameters for quartzite and granite Also, a class of rate and state laws suitable for variable normal stress is presented As part of the work, we show that compromises from the rate and state framework for describing velocity-weakening friction lead to paradoxical results, like supersonic propagation of slip perturbations, or to ill-posedness, when applied to sliding between elastically deformable solids The case of sliding between elastically dissimilar solids has the inherently destabilizing feature that spatially inhomogeneous slip leads to an alteration of normal stress, hence of frictional resistance We show that the rate and state friction laws nevertheless lead to stability of response to sufficiently short wavelength perturbations, at very slow slip rates Further, for slow sliding between dissimilar solids, we show that there is a critical amplitude of velocity-strengthening above which there is stability to perturbations of all wavelengths

http://esag.harvard.edu/rice/197_Rice_Lap_Ranj_JMPS_01.pdf

Rate and state dependent friction and the stability of sliding between elastically deformable solids

Contact modeling — forces

It has been shown recently that steady frictional sliding along an interface between dissimilar elastic solids with Coulomb friction acting at the interface is ill-posed for a wide range of material parameters and friction coefficients. The ill-posedness is manifest in the unstable growth of interfacial disturbances of all wavelengths, with growth rate inversely proportional to the wavelength. We first establish the connection between the ill-posedness and the existence of a certain interfacial wave in frictionless contact, called the generalized Rayleigh wave. Precisely, it is shown that for material combinations where the generalized Rayleigh wave exists, steady sliding with Coulomb friction is ill-posed for arbitrarily small values of friction. In addition, intersonic unstable modes and supersonic steady-state modes exist for sufficiently large values of the friction coefficient. Secondly, regularization of the problem by an experimentally motivated friction law is studied. We show that a friction law with no instantaneous dependence on normal stress but a simple fading memory of prior history of normal stress makes the problem well-posed.

http://esag.harvard.edu/rice/190_Ranjith_Ri_JMPS_01.pdf

Slip dynamics at an interface between dissimilar materials

The sliding of two perfectly flat elastic half-spaces with a constant interfacial coefficient of friction is investigated. Previous work has demonstrated that this configuration is dynamically unstable due to the destabilization of frictional slip waves. It was speculated that this dynamic instability could lead to stick-slip motion at the sliding interface. It is shown here that stick-slip motion at the interface can exist with a speed-independent interface coefficient of friction. Steady motion persists sufficiently far from the interface and thus gives the impression of uniform sliding. This type of stick-slip motion is due to interfacial slip waves and allows the bodies to slide with an apparent coefficient of friction which is less than the interface coefficient of friction. Furthermore it is shown that the apparent friction coefficient decreases with increasing speed even if the interface friction coefficient is speed-independent. Finally, it is shown that the presence of slip waves may make it possible for two frictional bodies to slide without a resisting shear stress and without any interface separation. No distinction is made between static and kinetic friction.

Steady Sliding of Two Elastic Half-Spaces With Friction Reduction due to Interface Stick-Slip

Friction exists in most mechanical systems, and it can have a major influence on their dynamic performance and operating conditions. As a consequence of frictional contact phenomena, energy is dissipated and the state of a system can change slowly and rapidly, depending on the nature of the contact, continuous or impact condition. Other effects associated with friction in mechanical systems are the vibration and noise propagation of the system components, nonlinear systems’ behavior and wear. Overall, the knowledge of the friction regimen, as well as the frictional forces developed at the interface of mechanical parts in contact with relative motion, is crucial for the dynamic analysis of mechanical systems, and has consequences in the design process. Thus, this work is a review of the modeling and analysis of frictional effects in multibody systems with the purpose of better understanding and obtaining accurate responses. In this process, pure dry sliding friction, stick–slip effect, viscous friction, Stribeck effect, and frictional lag are some of the main phenomena associated with friction, which are addressed in depth. Overall, the friction models can be divided into two main groups, namely the “static friction models” and the “dynamic friction models”. The static models describe the steady-state behavior of the relation friction-force/relative-velocity, while the dynamic models allow for the capturing of more physical responses and properties by using extra state variables. In a simpler manner, the static and dynamic friction models differ mostly in the modeled frictional effects, implementation complexity, and computational efficiency. Hence, this research is aimed at analyzing in detail the role of friction modeling in the dynamic response of multibody system, as well as addressing the importance of friction models selection for accurately describing the friction related phenomena. Demonstrative application examples, which include friction in ideal mechanical joints and systems involving contact–impact events, including an example of rolling contact will be considered and investigated to illustrate the main assumptions and procedures adopted in this work. The results from this study indicate that in most cases, a static friction model, which accounts for static friction and avoids the discontinuity at zero velocity, is a suitable choice. A more advanced dynamic friction model has to be developed to be utilized for systems containing high variations of normal load, namely with impact conditions.

Modeling and analysis of friction including rolling effects in multibody dynamics: a review

This paper presents a study on the dynamic stability of the steady frictional sliding of a linear elastic or viscoelastic half-space compressed against a rigid plane which moves with a prescribed nonvanishing tangential speed. The system of differential equations and boundary conditions that govern the small plane oscillations of the body about the steady-sliding state of deformation is established. It is shown that for large coefficient of friction and large Poisson's ratio the steady-sliding of the elastic body is dynamically unstable. This instability manifests itself by growing surface oscillations which necessarily propagate from front to rear and which in a short time lead to situations of loss of contact or stick. Similarly to what has been found with various finite dimensional frictional systems, these flutter type surface instabilities result from the intrinsic nonsymmetry of dry friction contact laws. The effect of viscous dissipation within the deformable body is also assessed : when viscous dissipation is present larger coefficients of friction are required for the occurrence of surface solutions propagating and growing from front to rear.

L. O. Faria

Papers

Dynamic Surface Solutions in Linear Elasticity and Viscoelasticity With Frictional Boundary Conditions