Collaborative Research: Computational Strategies for Resolving Schallamach Waves in Flexible Multibody Dynamics Simulations

该研究项目旨在解决柔性多体动力学（FMD）的增强建模和仿真需求，以准确捕获摩擦诱导的行为，包括粘滑运动和Schallamach分离波。这种系统级摩擦激发振动可以大大降低效率和寿命，特别是在柔性材料与相对刚体的摩擦接触中，如软机器人、工程生物系统和其他新兴工程领域。除了建模和仿真之外，本研究还将应用增强的FMD配方-连同补充实验-来研究仿生表面图案，以影响和控制非期望的摩擦诱导行为。该项目产生的FMD仿真工具将减少美国重要行业（包括汽车、制造设备和机器人）对昂贵且耗时的设计原型的需求。该项目包括外展活动，通过在研究人员的实验室进行K-12实习和培训机会，增加代表性不足的群体在工程领域的参与。主要研究目的是探索柔性多体动力学仿真工具在分析沙拉赫波及相关粘滑接触动力学中的适用性和增强性。解决这种摩擦行为将完成使用新的和有效的接触公式，以及有效的实施和解决程序。详细的实验将测试多体动力学预测，并为进一步改进提出方向。在研究的后期阶段，将进行计算和实验，以展示探索设计变化的新能力，例如各种微观和宏观尺度的模式，这些模式可以规范滑动并限制有害的粘滑和振动行为。研究工作的成功完成将大大提高我们设计和定制包含软元素的多体系统的能力，同时显着将柔性多体动力学仿真的范围扩展到新的重要研究领域。

This research project addresses the need for enhanced modeling and simulation of flexible multibody dynamics (FMD) that can accurately capture friction-induced behavior, including stick-slip motion and Schallamach detachment waves. Such system-level frictionally excited vibrations can greatly degrade efficiency and lifetime, and may be especially significant where compliant materials are in frictional contact with relatively rigid bodies, as in soft robots, engineered biological systems, and other emerging engineering areas. In addition to modeling and simulation, this research will apply the enhanced FMD formulations -- together with complementary experiments -- to study biomimetic surface patterning for influencing and controlling undesired frictionally induced behavior. The FMD simulation tools arising from this project will reduce the need for expensive and time-consuming design prototypes in important US industries, including automotive, manufacturing equipment, and robotics. The project includes outreach activities to increase participation of underrepresented groups in engineering through K-12 internship and training opportunities in the investigators' labs.The primary research objective is to explore the applicability and enhancement of flexible multi-body dynamics simulation tools for analyzing Schallamach waves, and related stick-slip contact dynamics. Resolving such frictional behavior will be accomplished using new and efficient contact formulations, together with efficient implementations and solution procedures. Detailed experiments will test the multi-body dynamics predictions and suggest directions for further refinements. In later stages of the research, both computation and experiments will be exercised to demonstrate new capabilities for exploring design changes, such as various micro- and macro-scale patterns, that can regularize sliding and limit detrimental stick-slip and vibration behavior. Successful completion of the research effort will greatly increase our ability to design and tailor multi-body systems incorporating soft elements while significantly extending the reach of flexible multi-body dynamics simulation to new and important research areas.