Pulling by Pushing, Slip With Infinite Friction, and Perfectly Rough Surfaces

Kevin M. Lynch; Matthew T. Mason

doi:10.1177/027836499501400207

Pulling by Pushing, Slip With Infinite Friction, and Perfectly Rough Surfaces

Kevin M. Lynch, Matthew T. Mason

Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

19 Scopus citations

Abstract

When one rigid object (the pusher) pushes another (the slider) across a horizontal support plane, Coulomb's law of friction admits some surprising phenomena. First, it is possible to move the slider by moving the pusher away from the slider: pulling. Second, even with an infinite coefficient of friction, it is possible to obtain slip between the two objects as the pusher moves into the slider. This contradicts the common conception that infinite friction always prevents slip. The per fectly rough contact of classical mechanics is not realized by an infinite coefficient of friction. This article shows examples of the phenomena with both quasistatic and dynamic analy ses.

Original language	English (US)
Pages (from-to)	174-183
Number of pages	10
Journal	The International Journal of Robotics Research
Volume	14
Issue number	2
DOIs	https://doi.org/10.1177/027836499501400207
State	Published - Apr 1995

ASJC Scopus subject areas

Software
Modeling and Simulation
Mechanical Engineering
Artificial Intelligence
Electrical and Electronic Engineering
Applied Mathematics

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