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We report on systematic measurements of the distribution of normal forces exerted by granular material under uniaxial compression onto the interior surfaces of a confining vessel. Our experiments on three-dimensional, random packings of monodisperse glass beads show that this distribution is nearly uniform for forces below the mean force and decays exponentially for forces greater than the mean. The shape of the distribution and the value of the exponential decay constant are unaffected by changes in the system preparation history or in the boundary conditions. An empirical functional form for the distribution is proposed that provides an excellent fit over the whole force range measured and is also consistent with recent computer simulation data.
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In the present letter a method to find a proper expression for the force distribution inside a granular sample in static equilibrium is proposed. The method is based in statistical mechanics and the force distribution is obtained by studying how the potential elastic energy is divided among the different contacts between grains. It is found with DEM simulations with spheres that the elastic potential energy distribution follows a Bose Einstein law from which the force distribution is deduced. The present letter open a way in which granular materials can be studied with the tools provided by statistical mechanics.
Compared to agile legged animals, wheeled and tracked vehicles often suffer large performance loss on granular surfaces like sand and gravel. Understanding the mechanics of legged locomotion on granular media can aid the development of legged robots with improved mobility on granular surfaces; however, no general force model yet exists for granular media to predict ground reaction forces during complex limb intrusions. Inspired by a recent study of sand-swimming, we develop a resistive force model in the vertical plane for legged locomotion on granular media. We divide an intruder of complex morphology and kinematics, e.g., a bio-inspired robot L-leg rotated through uniform granular media (loosely packed ~ 1 mm diameter poppy seeds), into small segments, and measure stresses as a function of depth, orientation, and direction of motion using a model leg segment. Summation of segmental forces over the intruder predicts the net forces on both an L-leg and a reversed L-leg rotated through granular media with better accuracy than using simple one-dimensional penetration and drag force models. A multi-body dynamic simulation using the resistive force model predicts the speeds of a small legged robot (15 cm, 150 g) moving on granular media using both L-legs and reversed L-legs.
We investigate the effective friction encountered by an intruder moving through a sedimented medium which consists of transparent granular hydrogels immersed in water, and the resulting motion of the medium. We show that the effective friction $mu_e$ on a spherical intruder is captured by the inertial number $I$ given by the ratio of the time scale over which the intruder moves and the inertial time scale of the granular medium set by the overburden pressure. Further, $mu_e$ is described by the function $mu_e(I) = mu_s + alpha I^beta$, where $mu_s$ is the static friction, and $alpha$ and $beta$ are material dependent constants which are independent of intruder depth and size. By measuring the mean flow of the granular component around the intruder, we find significant slip between the intruder and the granular medium. The motion of the medium is strongly confined near the intruder compared with a viscous Newtonian fluid and is of the order of the intruder size. The return flow of the medium occurs closer to the intruder as its depth is increased. Further, we study the reversible and irreversible displacement of the medium by not only following the medium as the intruder moves down but also while returning the intruder back up to its original depth. We find that the flow remains largely reversible in the quasi-static regime, as well as when $mu_e$ increases rapidly over the range of $I$ probed.
Universality in materials deformation is of intense interest: universal scaling relations if exist would bridge the gap from microscopic deformation to macroscopic response in a single material-independent fashion. While recent agreement of the force statistics of deformed nanopillars, bulk metallic glasses, and granular materials with mean-field predictions supports the idea of universal scaling relations, here for the first time we demonstrate that the universality extends beyond the statistics, and applies to the slip dynamics as well. By rigorous comparison of two very different systems, bulk metallic glasses and granular materials in terms of both the statistics and dynamics of force fluctuations, we clearly establish a material-independent universal regime of deformation. We experimentally verify the predicted universal scaling function for the time evolution of individual avalanches, and show that both the slip statistics and dynamics are universal, i.e. independent of the scale and details of the material structure and interactions. These results are important for transferring experimental results across scales and material structures in a single theory of deformation.
We report on experiments to measure the temporal and spatial evolution of packing arrangements of anisotropic, cylindrical granular material, using high-resolution capacitive monitoring. In these experiments, the particle configurations start from an initially disordered, low-packing-fraction state and under vertical vibrations evolve to a dense, highly ordered, nematic state in which the long particle axes align with the vertical tube walls. We find that the orientational ordering process is reflected in a characteristic, steep rise in the local packing fraction. At any given height inside the packing, the ordering is initiated at the container walls and proceeds inward. We explore the evolution of the local as well as the height-averaged packing fraction as a function of vibration parameters and compare our results to relaxation experiments conducted on spherically shaped granular materials.
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