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

Kevin Lynch and Matthew T. Mason
Conference Paper, International Journal of Robotics Research, Vol. 14, No. 2, pp. 174-183, April, 1995

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When one rigid object (the pusher) pushes another (the slider) across a horizontal support plane, Coulomb’s law admits some surprising phenomena. First, it is possible to move the slider by moving the pusher away from the slider, i.e., pulling. Second, it is possible to obtain slip between the two objects even with an infinite coefficient of friction. Thus, the common conception that infinite friction prevents slip is in error. Examples of the phenomena are shown, using both quasi-static and dynamic analysis. Implications for the concept of perfectly rough surfaces are addressed.

author = {Kevin Lynch and Matthew T. Mason},
title = {Pulling by Pushing, Slip with Infinite Friction, and Perfectly Rough Surfaces},
booktitle = {International Journal of Robotics Research},
year = {1995},
month = {April},
volume = {14},
pages = {174-183},
publisher = {MIT Press Journals},
address = {Cambridge, MA},
} 2017-09-13T10:51:06-04:00