Experimental Validation of a 2D Bristle Friction Force Model

This paper describes an experimental effort designed to validate a general 2D bristle contact friction model. The model extends the 1D integrated bristle friction model to a 2D space by allowing the “bristle spring” to not only stretch along the direction of the bristle displacement but also rotate due to the instantaneous direction change of the velocity or motion trend in the common tangential plane of the contacting surfaces involved at the point of interest. The model is capable of simulating frictional behaviour in both sliding and sticking regimes occurring in general 3D rigid-body contact. With such an extension, the resulting friction model can be readily used to compute 3D contact friction forces in both sticking and sliding regimes. Two experiments were designed and implemented to validate the new 2D bristle model. The experiments were able to passively produce common frictional phenomena such as sliding, sticking, and stick-slip.