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The effect of Atmospheric Pressure Plasma-Enhanced Chemical Vapor Deposition (AP-PECVD) on Ethylene Propylene Diene Terpolymer (EPDM) with the precursors hexamethyldisiloxane (HMDSO) and tetraethyl orthosilicate (TEOS) on roughness, chemical composition as well as wetting and friction properties has been investigated. For the first time, topography analysis like Scanning Electron Microscopy (SEM), White Light Interferometry (WLI), Digital Microscopy as well as surface analytical methods by using X-ray Photoelectron Spectroscopy (XPS) and Time-of-Flight Secondary Ion Mass Spectrometry (ToF-SIMS) were combined with contact angle and friction experiments to obtain a detailed analysis of plasma polymer surfaces. This work shows that different plasma coatings can be utilized to tailor wettability, surface energies and reduce friction of EPDM rubber, which are important for various applications. Wettability investigations have shown that both coatings are more polar compared to the untreated surface but less polar than the surface activated EPDM without precursor. The carbon content is decreased, and the content of oxygen and silicon is increased after plasma polymerization as shown by XPS investigations. ToF-SIMS investigations have revealed that the ion spectra of both coatings are very similar with a comparable surface chemistry. A lower penetration depth is considered for the contact angle measurements in contrast to the other surface-sensitive methods. The surface energy of the activated EPDM surface without precursor increases significantly compared to the untreated EPDM due to the incorporation of polar groups in the elastomer surface. Both coatings with the corresponding precursors also have a higher surface energy compared to the uncoated EPDM, whereas the TEOS coating reveals a higher surface energy than the HMDSO coating. However, both coatings have lower surface energies than the activated EPDM. The coefficient of friction and the stick-slip phenomenon can be significantly reduced using plasma polymer coatings based on organosilicon precursors sliding on glass substrates. The lowest friction values with absence of stick-slip on EPDM were achieved by using the precursor TEOS as friction partner.

The present study is meant to obtain tribological insight into the interface of a rolling rubber wheel on a counter-surface disk based on the work of the previous study Salehi et al. (Tribol Lett 68(1):37, 2020), in which a new test method was developed to rapidly predict tire grip in a laboratory environment. A Laboratory Abrasion Tester (LAT100) was used and exploited as a tribometer. This opened a new cost- and time-effective horizon for tire material development in a laboratory environment rather than having to test tread compounds by building full-scale tires. The method was validated by a comprehensive study for six different tire tread compositions, by correlating the laboratory data for solid rubber wheels as LAT100 specimens with real tire results in two test modalities: lateral (α) and longitudinal (κ) sweep tests on a dry road. It was demonstrated that the LAT100 can be exploited to simulate the $$\alpha$$ α -sweep tire tests, but not the $$\kappa$$ κ -sweep. The dynamics and physics of a rolling rubber wheel on a counter-surface disk of the LAT100 test step-up are investigated utilizing the renowned physical “brush model” in comparison to full-scale tire tests. The type of test modality leads to different friction mechanisms in the contact patch even at similar test conditions. This is substantiated by recognizing the two regions: stationary and non-stationary, in the contact area which results in different friction components and mechanisms. The behavior of the rolling wheel in lateral and longitudinal movements at the same test conditions is comparable if the contributions of the mentioned regions in the contact area are similar.

Here, the authors propose an energy method to obtain the friction coefficient of a rubber block sliding on self-affine substrates via simulation. Due to the multi-scale property, the rough surfaces are modelled with four harmonic rigid frictionless roads. As the rubber block is a viscoelastic solid, energy dissipation in the contact area results in friction. The authors propose a new simulation method to obtain friction coefficient through energy dissipation. With different loads and sliding velocities, the change law of friction coefficient is calculated. The authors design a test instrument to verify the friction coefficients of rubber on some certain surface. The findings of this research constitute a theoretical basis for safe tire design and tire grip improvements.

Evaluating tire grip on the road, an extremely complicated tribological system, is enormously energy and time consuming but essential for safety. To predict grip on the road, tires with four different tread compounds were tested on ABS braking distance on a dry test track. Corresponding solid rubber wheels were characterized on the Laboratory Abrasion Tester (LAT100) on four different electro-corundum discs of various grain sizes. With increasing speed the side force coefficient (SFC) decreases. A lower disc grain size induces a higher SFC. A correlation coefficient of 0.93 between the LAT100 data and road results for the four tread compounds has a high potential for predicting the car tire ABS braking distance.

Rubber-like materials are widely used in mechanical systems. Schallamach waves appear in friction process due to their small elastic modulus and relatively large surface adhesion energy, which may cause some negative influences, such as additional vibration and singular wear. In-depth researches into the characteristics and mechanism of Schallamach waves are of great significance to development and application of rubber-like materials. Therefore, the nucleation and propagation law of Schallamach waves are investigated by using in-situ experiments and 3D finite element simulation method. Results indicate that small wrinkles appear firstly at the edges of contact regions. Here, the small wrinkles propagate towards the centers of the contact regions in a spiral manner, which is analyzed by using elastic theory. The first Schallamch wave forms on the sides of the contact region, while the subsequent waves nucleate at the front of the contact region. Then, In-situ experiments are carried out to study the influences of materials ratios and sliding velocity on the behaviors of Schallamach waves. Based on the finite element model, analysis results reveal the law of propagation speed, wave length and wave amplitude of Schallamach waves, and the relationship between contact area and force (frictional and vertical force). There is basically no sliding exiting in the contact interface during friction process, and in some extent the Schallamach waves play a lubricating role.

The viscous dissipation between rigid, randomly rough indenters and linearly elastic counter bodies sliding past them is investigated using Green's function molecular dynamics. The study encompasses a variety of models differing in the height spectra properties of the rigid indenter, in the viscoelasticity of the elastomer, and in their interaction. All systems reveal the expected damping linear in sliding velocity $v$ at small $v$ and a pronounced maximum at intermediate $v$. Persson's theory of rubber friction, which is adopted to the studied model systems, reflects all observed trends. However, close quantitative agreement is only found up to intermediate sliding velocities. Relative errors in the friction force become significant once the contact area is substantially reduced by sliding., Comment: 13 pages, 9 figures

While suction cups prevail as common gripping tools for a wide range of real-world parts and surfaces, they often fail to seal the contact interface when engaging with irregular shapes and textured surfaces. In this work, the authors propose a suction-based soft robotic gripper where suction is created inside a self-sealing, highly conformable and thin flat elastic membrane contacting a given part surface. Such soft gripper can self-adapt the size of its effective suction area with respect to the applied load. The elastomeric membrane covering edge of the soft gripper can develop an air-tight self-sealing with parts even smaller than the gripper diameter. Such gripper shows 4 times higher adhesion than the one without the membrane on various textured surfaces. The two major advantages, underactuated self-adaptability and enhanced suction performance, allow the membrane-based suction mechanism to grip various three-dimensional (3D) geometries and delicate parts, such as egg, lime, apple, and even hydrogels without noticeable damage, which can have not been gripped with the previous adhesive microstructures-based and active suction-based soft grippers. The structural and material simplicity of the proposed soft gripper design can have a broad use in diverse fields, such as digital manufacturing, robotic manipulation, transfer printing, and medical gripping., Advanced Science, 8 (17), ISSN:2198-3844

The evaluation of tire grip on the road is costly and consumes high energy and time, but is essential for safety. Prediction of tire grip on a laboratory scale is therefore always of interest and of utmost importance for research and material developments. It mostly suffers from lack of comparison with actual tire data. To involve all influencing factors on tire grip in a laboratory scale measurement is very complex. Therefore, it has always remained challenging to obtain a strong correlation between laboratory results and road data. In the present study, a new test method is developed for a Laboratory Abrasion Tester, LAT100, which enables to exploit the device as a tribometer. The objective was to develop a technique on a laboratory device to mimic the common test modalities for evaluating tire grip on the road with a trailer tester: lateral (α) and longitudinal (κ) sweep tests. The new method is validated by correlating the laboratory data with the two test modalities of real tire grip on a dry road using a trailer tester for six different tire tread compositions. For the LAT100 tests, solid rubber wheels are characterized at three different normal loads. The effects are comparable with actual tire data. The outcome of the new test method is in good agreement with actual tire trailer α-sweep tests. Graphical abstract

The friction and wear behavior of coated rubber components is strongly dependent on the substrate properties. This work deals with the impact of the crosslink density, i.e., the hardness of the rubber substrate on the tribological performance of uncoated and coated rubber. The hardness of nitrile butadiene rubber (NBR) is varied altering the sulfur content. Both the uncoated and coated rubber samples are characterized in terms of surface and mechanical properties. Tribological tests comprise the examination of the macroscopic contact area and the temperature in the contact zone. It was found that the functional layer enhances the wear resistance significantly. Apparently, the wear and friction behavior of the coated rubber correlates with the hardness and the bulk properties of the substrate material.

We study the adhesion and friction for three tire tread rubber compounds. The adhesion study is for a smooth silica glass ball in contact with smooth sheets of the rubber in dry condition and in water. The friction studies are for rubber sliding on smooth glass, concrete, and asphalt road surfaces. We have performed the Leonardo da Vinci-type friction experiments and experiments using a linear friction tester. On the asphalt road, we also performed vehicle breaking distance measurements. The linear and non-linear viscoelastic properties of the rubber compounds were measured in shear and tension modes using two different Dynamic Mechanical Analysis (DMA) instruments. The surface topography of all surfaces was determined using stylus measurements and scanned-in silicon rubber replicas. The experimental data were analyzed using the Persson contact mechanics and rubber friction theory.

Rubber friction depends on the surface roughness of the counter surface, e.g. a road surface. We have measured the friction for two rubber compounds sliding on randomly rough surfaces produced by 3D-printing. The surfaces had different macro-roughness and the friction experiments were performed over six decades in speeds, from 10−6 m s−1 to 1 m s−1, on both dry and lubricated substrates. The viscoelastic modulus master curves of the rubber compounds, and their large-strain effective modulus were obtained from dynamic mechanical analysis (DMA). The measured friction coefficients were compared to the calculations of rubber friction using Persson's contact mechanics theory. The role of the macro-level roughness is discussed.

We study the contact mechanics of a smooth hard cylinder rolling on a flat surface of a linear viscoelastic solid. Using the measured viscoelastic modulus of unfilled and filled (with carbon black) nitrile rubber, we compare numerically exact results for the rolling friction with the prediction of a simple analytical theory. For the unfilled rubber, the two theories agree perfectly while some small difference exists for the filled rubber. The rolling friction coefficient depends nonlinearly on the normal load and the rolling velocity.

In rubber friction studies, it is often observed that the kinetic friction coefficient μ depends on the nominal contact pressure p. We discuss several possible origins of the pressure dependency of μ: (1) saturation of the contact area (and friction force) due to high nominal squeezing pressure; (2) nonlinear viscoelasticity; (3) nonrandomness in the surface topography, in particular the influence of the skewness of the surface roughness profile; (4) adhesion; and (5) frictional heating. We show that in most cases the nonlinearity in the μ(p) relation is mainly due to process (5), frictional heating, that softens the rubber, increases the area of contact, and (in most cases) reduces the viscoelastic contribution to the friction. In fact, because the temperature distribution in the rubber at time t depends on the sliding history (i.e., on the earlier time t′ < t), the friction coefficient at time t will also depend on the sliding history, that is, it is, strictly speaking, a time integral operator. The energy dissipation in the contact regions between solids in sliding contact can result in high local temperatures that may strongly affect the area of real contact and the friction force (and the wear-rate). This is the case for rubber sliding on road surfaces at speeds above 1 mm/s. Previously, we derived equations that described the frictional heating for solids with arbitrary thermal properties. Here, the theory is applied to rubber friction on road surfaces. Numerical results are presented and compared to experimental data. We observe good agreement between the calculated and measured temperature increase.

A huge number of technological and biological systems involves the lubricated contact between rough surfaces of soft solids in relative accelerated motion. Examples include dynamical rubber seals and the human joints. In this study we consider an elastic cylinder with random surface roughness in accelerated sliding motion on a rigid, perfectly flat (no roughness) substrate in a fluid. We calculate the surface deformations, interface separation and the contributions to the friction force and the normal force from the area of real contact and from the fluid. The driving velocity profile as a function of time is assumed to be either a sine-function, or a linear multi-ramp function. We show how the squeeze-in and squeeze-out processes, occurring in accelerated sliding, quantitatively affect the Stribeck curve with respect to the steady sliding. Finally, the theory results are compared to experimental data.

Surface roughness has a huge impact on many important phenomena. The most important property of rough surfaces is the surface roughness power spectrum C(q). We present surface roughness power spectra of many surfaces of practical importance, obtained from the surface height profile measured using optical methods and the Atomic Force Microscope. We show how the power spectrum determines the contact area between two solids. We also present applications to sealing, rubber friction and adhesion for rough surfaces, where the power spectrum enters as an important input., Topical review; 82 pages, 61 figures; Format: Latex (iopart). Some figures are in Postscript Level 3

Existing friction laws for rubber like materials are tuned on available experimental data. Once their parameters are identified, a sensitivity analysis is carried out in order to check their extrapolation and prediction capabilities. It is seen that, although several fiction laws at micro scale are available in the literature, neither one is able to correctly predict the friction law at macro scale for all the tire working conditions. In the present paper a thorough review of the most advanced local friction models, i.e. Persson and Kluppel models, is carried out. Persson’s model is then integrated with a limiting criterion and an adhesive contribution is added to improve the prediction of the friction law at macro scale.

We study the lubricated (wet) contact mechanics of a smooth hard cylinder sliding on a randomly rough nominally flat surface of a linear viscoelastic solid. We calculate the rolling and sliding friction, and study the transition from the boundary lubrication to the elasto-hydrodynamic lubrication regime. For the viscoelastic contact the minimum (average) separation does not monotonically increase with the sliding velocity, and the Stribeck curve exhibits new structures not shown for elastic solids.

International audience; We discuss the role of the long-range elastic interaction between the contacts inside an inhomogeneous frictional interface. The interaction produces a characteristic elastic correlation length $\lambda_c = a^2 E / k_c$ (where $a$ is the distance between the contacts, $k_c$ is the elastic constant of a contact, and $E$ is the Young modulus of the sliding body), below which the slider may be considered as a rigid body. The strong inter-contact interaction leads to a narrowing of the effective threshold distribution for contact breaking and enhances the chances for an elastic instability to appear. Above the correlation length, $r > \lambda_c$, the interaction leads to screening of local perturbations in the interface, or to appearance of collective modes --- frictional cracks propagating as solitary waves.

We study the influence of surface roughness on the adhesion of elastic solids. Most real surfaces have roughness on many different length scales, and this fact is taken into account in our analysis. We consider in detail the case when the surface roughness can be described as a self affine fractal, and show that when the fractal dimension D_f >2.5, the adhesion force may vanish, or be at least strongly reduced. We consider the block-substrate pull-off force as a function of roughness, and find a partial detachment transition preceding a full detachment one. The theory is in good qualitative agreement with experimental data., 15 pages, 16 figures. Submitted to J. Chem. Phys