Simulation of Nanomanipulation Using Compliance-Based Contact Dynamics Modeling Technique

2007 ◽  
Author(s):  
Ou Ma ◽  
Xiumin Diao ◽  
Mingjun Zhang
Keyword(s):  
Contact Forces ◽  
Contact Dynamics ◽  
Modeling Technique ◽  
Published Data ◽  
Dynamics Modeling ◽  
Dynamics Model ◽  
Friction Forces ◽  
Nano Scale ◽  
Model Fidelity ◽  
Macro Scale

This paper describes dynamics modeling and simulation of AFM-based manipulation of a nano-scale object using the compliance-based contact dynamics modeling technique (also referred to as the penalty method). Such a modeling technique has been well developed and widely applied in macro-scale applications. Its applicability to nano-scale cases is, however, relatively new and thus, requires more investigation. The dynamics model developed in the paper includes the Van der Waals forces, electrostatic forces, contact forces (for modeling repulsion), and friction forces with consideration of contact geometry, stiffness, and friction properties of all the physically interacting objects. The model can simulate the dynamic behavior of interactions between nano-scale objects and its environment. For demonstration, the dynamic simulation results of an AFM-based manipulation process are presented. To provide confidence of the model fidelity, a simulation example which matches some published data is presented.

Simulation of Submerged Slack Tethers and Their Interaction With the Environment

2004 ◽  
Author(s):  
J. A. Carretero ◽  
B. J. Buckham
Keyword(s):  
Dynamic Model ◽  
Three Dimensional ◽  
Separation Distance ◽  
Contact Forces ◽  
Contact Dynamics ◽  
Dynamics Model ◽  
Model Fidelity ◽  
Tethered Systems ◽  
And Training ◽  
Profile Change

Tethered systems, underwater or otherwise, are nowadays used for very diverse tasks. Due to the complexity of such systems, it is necessary to simulate them for design, operation and training purposes. This paper deals with an approach to simulation of tethered systems, in particular underwater remotely operated vehicles (ROVs), by incorporating contact forces acting between the tether and the environment into the dynamic model of the tether. This will ensure model fidelity when the tethered system is operated in a dense environment. In this paper, methods used to compute contact forces are described. In the calculation of contact dynamics, the distance between the tethered system and the environment is of utmost interest. Algorithms to determine the separation distance between the tether and the environment are discussed in the scope of this work. These algorithms are then incorporated into an existing dynamics model of the ROV tether. Finally, this paper concludes with a simple numerical example where a tether is moved in a concave environment. The distance between the tether and the environment is computed as the tether’s location and three-dimensional profile change with time.

A Scale-Dependent Model for Multi-Asperity Contact and Friction

2003 ◽  
Vol 125 (4) ◽  
pp. 700-708 ◽  
Author(s):  
George G. Adams ◽  
Sinan Mu¨ftu¨ ◽  
Nazif Mohd Azhar
Keyword(s):  
Real Contact Area ◽  
Asperity Contact ◽  
Adhesion Forces ◽  
Friction Forces ◽  
Dugdale Model ◽  
The Real ◽  
Nano Scale ◽  
Macro Scale ◽  
Asperity Contacts ◽  
Coefficient Versus

As loading forces decrease in applications such as MEMS and NEMS devices, the size of the asperity contacts which comprise the real contact area tend to decrease into the nano scale regime. This reduction in size of the contacts is only partially offset by the nominally increased smoothness of these contacting surfaces. Because the friction force depends on the real area of contact, it is important to understand how the material and topographical properties of surfaces contribute to friction forces at this nano scale. In this investigation, the single asperity nano contact model of Hurtado and Kim is incorporated into a multi-asperity model for contact and friction which includes the effect of asperity adhesion forces using the Maugis-Dugdale model. The model spans the range from nano-scale to micro-scale to macro-scale contacts. Three key dimensionless parameters have been identified which represent combinations of surface roughness measures, Burgers vector length, surface energy, and elastic properties. Results are given for the friction coefficient versus normal force, the normal and friction forces versus separation, and the pull-off force for various values of these key parameters.

A Nano-Scale Multi-Asperity Model for Contact and Friction

2002 ◽  
Author(s):  
George G. Adams ◽  
Sinan Mu¨ftu¨ ◽  
Nazif Mohd Azhar
Keyword(s):  
Normal Force ◽  
Real Contact Area ◽  
Adhesion Forces ◽  
Friction Forces ◽  
Dugdale Model ◽  
Single Asperity ◽  
Nano Scale ◽  
Macro Scale ◽  
Asperity Contacts ◽  
Asperity Model

As surfaces become smoother and loading forces decrease in applications such as MEMS and NEMS devices, the asperity contacts which comprise the real contact area will continue to decrease into the nano scale regime. Thus it becomes important to understand how the material and topographical properties of surfaces contribute to measured friction forces at this nano scale. We have incorporated the single asperity nano contact model of Hurtado and Kim into a multi-asperity model for contact and friction which includes the effect of asperity adhesion forces using the Maugis-Dugdale model. Our model spans the range from nano-scale to micro-scale to macro-scale contacts. We have identified three key dimensionless parameters representing combinations of surface roughness measures, Burgers vector length, surface energy, and elastic modulus. Results are given for the normal and friction forces vs. separation, and for the friction coefficient vs. normal force for various values of these key parameters.

scholarly journals Motorcycle control-oriented dynamics modeling for accelerated maneuvers on slippy terrains

2018 ◽  
Vol 148 ◽  
pp. 03004
Author(s):  
Elżbieta Jarzębowska ◽  
Michał Cieśluk
Keyword(s):  
Dynamical Systems ◽  
Contact Forces ◽  
High Fidelity ◽  
Systems Of Equations ◽  
Dynamics Modeling ◽  
Dynamics Model ◽  
Control Laws ◽  
Terrain Model ◽  
Acceleration And Deceleration ◽  
Motorcycle Dynamics

The paper presents a motorcycle dynamics model developed for testing and future model based controller designs for accelerated maneuvers on variable slip terrains. The dynamics is simplified, yet it captures real motorcycle behaviors when it accelerates and decelerates on a curvy trajectory and contact forces due to variable ground properties change and allow to generate slip. The tire - terrain model is based upon a simplified Pacejka model. The paper objective is not to obtain complex dynamical systems of equations like those required for high-fidelity simulations. Instead, the aim is to derive simple but reliable and manageable models that enable designing and implementing, and verifying control laws, as well as maintaining their capability to capture the main behaviors of real systems. The paper applies the adopted assumptions to develop the motorcycle model, and presents simulation tests for the motorcycle acceleration and deceleration during turn maneuvers, and during changes of the ground the vehicle moves on.

Multi-Body Contact Dynamics Modeling of Roll Mechanisms in Paper Manufacturing Systems

2001 ◽  
Author(s):  
Erno Keskinen ◽  
Sirpa Launis ◽  
Juha-Matti Kivinen
Keyword(s):  
Manufacturing Systems ◽  
Paper Industry ◽  
Contact Forces ◽  
Contact Dynamics ◽  
Physical Contact ◽  
Dynamics Modeling ◽  
Body Contact ◽  
Paper Manufacturing ◽  
Multi Body ◽  
Four Bar Linkage

Abstract A multi-body contact dynamics formulation is introduced to model the dynamic motion of roll mechanisms typical for paper manufacturing systems. Physical contact forces acting on the bodies in the joints are connecting the links of roll mechanisms together instead of purely kinematic constraints used in existing classical algorithms. In a similar way, external contacts between rolls manipulating the paper web are modeled as contact line loads in normal pressing and tangential traction directions. In the case study the loading dynamics of a paper finishing unit used in paper industry has been simulated in order to find out dynamically stable dimensioning for the critical parts in a new four-bar-linkage roll loading mechanism.

A Nano-Scale Multi-Asperity Contact and Friction Model

2002 ◽  
Author(s):  
George G. Adams ◽  
Sinan Mu¨ftu¨ ◽  
Nazif Mohd Azhar
Keyword(s):  
Friction Model ◽  
Real Contact Area ◽  
Asperity Contact ◽  
Adhesion Forces ◽  
Friction Forces ◽  
Dugdale Model ◽  
Nano Scale ◽  
Macro Scale ◽  
Asperity Contacts ◽  
Asperity Model

As surfaces become smoother and loading forces decrease in applications such as MEMS and NEMS devices, the asperity contacts which comprise the real contact area will continue to decrease into the nano scale regime. Thus it becomes important to understand how the material and topographical properties of surfaces contribute to measured friction forces at this nano scale. We have incorporated the single asperity nano contact model of Hurtado and Kim into a multi-asperity model for contact and friction which includes the effect of asperity adhesion forces using the Maugis-Dugdale model. Our model spans the range from nano-scale to micro-scale to macro-scale contacts. We have identified three key dimensionless parameters representing combinations of surface roughness measures, Burgers vector length, surface energy, and elastic modulus. Results are given for the normal and friction forces vs. separation, and for the friction coefficient vs. normal force for various values of these key parameters.

A Contact Force Solution for Non-Colliding Contact Dynamics Simulation

2006 ◽  
Author(s):  
Inna Sharf ◽  
Yuning Zhang
Keyword(s):  
Rigid Body ◽  
Contact Force ◽  
Contact Point ◽  
Closed Form Solution ◽  
Rigid Body Dynamics ◽  
Contact Forces ◽  
Contact Dynamics ◽  
Dynamics Simulation ◽  
Friction Forces ◽  
Contact Points

Rigid-body impact modeling remains an intensive area of research spurred on by new applications in robotics, biomechanics, and more generally multibody systems. By contrast, the modeling of non-colliding contact dynamics has attracted significantly less attention. The existing approaches to solve non-colliding contact problems include compliant approaches in which the contact force between objects is defined explicitly as a function of local deformation, and complementarity formulations in which unilateral constraints are employed to compute contact interactions (impulses or forces) to enforce the impenetrability of the contacting objects. In this article, the authors develop a novel approach to solve the non-colliding contact problem for objects of arbitrary geometry in contact at multiple points. Similarly to the complementarity formulation, the solution is based on rigid-body dynamics and enforces contact kinematics constraints at the acceleration level. Differently, it leads to an explicit closed-form solution for the normal forces at the contact points. Integral to the proposed formulation is the treatment of tangential contact forces, in particular the static friction. These friction forces must be calculated as a function of microslip velocity or displacement at the contact point. Numerical results are presented for three test cases: 1) a thin rod sliding down a stationary wedge; 2) a cube rotating off the stationary wedge under application of an external moment and 3) the cube and the wedge both moving under application of a moment. To ascertain validity and correctness, the solutions to frictionless and frictional scenarios obtained with the proposed formulation are compared to those generated by using a commercial simulation tool MSC ADAMS.

scholarly journals Slipping–rolling transitions of a body with two contact points

2021 ◽  
Author(s):  
Mate Antali ◽  
Gabor Stepan
Keyword(s):  
Rigid Body ◽  
Contact Point ◽  
Static Friction ◽  
Rigid Body Dynamics ◽  
Contact Forces ◽  
Friction Forces ◽  
Contact Points ◽  
Body Dynamics ◽  
Coulomb Model ◽  
Rigid Surfaces

AbstractIn this paper, the general kinematics and dynamics of a rigid body is analysed, which is in contact with two rigid surfaces in the presence of dry friction. Due to the rolling or slipping state at each contact point, four kinematic scenarios occur. In the two-point rolling case, the contact forces are undetermined; consequently, the condition of the static friction forces cannot be checked from the Coulomb model to decide whether two-point rolling is possible. However, this issue can be resolved within the scope of rigid body dynamics by analysing the nonsmooth vector field of the system at the possible transitions between slipping and rolling. Based on the concept of limit directions of codimension-2 discontinuities, a method is presented to determine the conditions when the two-point rolling is realizable without slipping.

Molecular Dynamics Modeling the Nano-Identation of Titanium

2021 ◽  
Author(s):  
Peiqiang Yang ◽  
Xueping Zhang ◽  
Zhenqiang Yao ◽  
Rajiv Shivpuri
Keyword(s):  
Molecular Dynamics ◽  
Plastic Deformation ◽  
Titanium Alloys ◽  
Large Scale ◽  
Mechanical Response ◽  
Pure Titanium ◽  
Dynamics Modeling ◽  
Dynamics Model ◽  
Nano Indentation ◽  
Molecular Dynamics Modeling

Abstract Titanium alloys’ excellent mechanical and physical properties make it the most popular material widely used in aerospace, medical, nuclear and other significant industries. The study of titanium alloys mainly focused on the macroscopic mechanical mechanism. However, very few researches addressed the nanostructure of titanium alloys and its mechanical response in Nano-machining due to the difficulty to perform and characterize nano-machining experiment. Compared with nano-machining, nano-indentation is easier to characterize the microscopic plasticity of titanium alloys. This research presents a nano-indentation molecular dynamics model in titanium to address its microstructure alteration, plastic deformation and other mechanical response at the atomistic scale. Based on the molecular dynamics model, a complete nano-indentation cycle, including the loading and unloading stages, is performed by applying Large-scale Atomic/Molecular Massively Parallel Simulator (LAMMPS). The plastic deformation mechanism of nano-indentation of titanium with a rigid diamond ball tip was studied under different indentation velocities. At the same time, the influence of different environment temperatures on the nano-plastic deformation of titanium is analyzed under the condition of constant indentation velocity. The simulation results show that the Young’s modulus of pure titanium calculated based on nano-indentation is about 110GPa, which is very close to the experimental results. The results also show that the mechanical behavior of titanium can be divided into three stages: elastic stage, yield stage and plastic stage during the nano-indentation process. In addition, indentation speed has influence on phase transitions and nucleation of dislocations in the range of 0.1–1.0 Å/ps.

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