Friction Between a Viscoelastic Body and a Rigid Surface with Random Self-Affine Roughness

In this Letter, we study the friction between a one-dimensional elastomer and a one-dimensional rigid body having a randomly rough surface. The elastomer is modeled as a simple Kelvin body and the surface as self-affine fractal having a Hurst exponent $H$ in the range from 0 to 1. The resulting frictional force as a function of velocity always shows a typical structure: it first increases linearly, achieves a plateau and finally drops to another constant level. The coefficient of friction on the plateau depends only weakly on the normal force. At lower velocities, the coefficient of friction depends on two dimensionless combinations of normal force, sliding velocity, shear modulus, viscosity, rms roughness, rms surface gradient, the linear size of the system, and the Hurst exponent. We discuss the physical nature of different regions of the law of friction and suggest an analytical relation describing the coefficient of friction in a wide range of loading conditions. An important implication of the analytical result is the extension of the well-known ``master curve procedure'' to the dependencies on the normal force and the size of the system.