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In order to examine the influence of system dynamics on sliding friction, weintroduce the so-called micro-walking machine. This model consists of a rigidbody with a number of elastic contact spots that is pulled by a constantlymoving base. The system slides with dry friction on a rigid substrate. Thekinematic coupling of the rotation and the translation of the rigid bodyresults in varying normal and tangential forces at the contact spots. Forcertain parameter ranges this leads to self-excited oscillations in thevertical direction. A particular dynamic mode occurs which is characterized bya strong correlation between low or even zero normal forces and a fast forwardmotion. This effect is referred to as micro-walking. In addition to anexperimental rig we use numerical integration and an extensive parameter studyfor the analysis. In theory, the reduction of the frictional resistance reachesup to 98%. These results are confirmed by the experiments where the maximalreduction was 73%. Our model shows that micro-vibrations play an important rolefor the dynamic influences on the frictional resistance of systems that exhibitapparently smooth sliding. The identification of the critical parameter rangeenables the systematic control of frictional resistance through the adjustmentof attributes such as geometry and stiffness. In addition, it is possible todeduce guidelines for how tribological test rigs should be designed in order toget reliable results.

The influence of system dynamics on the frictional resistance: insights from a discrete model