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Motivated by the structure of the normal surface stress of the extended Hertzian approach [1] given due to terms of the form r^2n*(a^2-r^2)^(1/2) (n=0, 2, 4, 6…) it seems attractive to evaluate the complete elastic field also for shear loadings of this form. The reason for this lays in the demand for analytical tools for the description of mixed loading conditions as they appear for example in scratch experiments. [1] N. Schwarzer, "Elastic Surface Deformation due to Indenters with Arbitrary symmetry of revolution", J. Phys. D: Appl. Phys., 37 (2004) 2761-2772

Composites are materials which cater to the present and future needs of many demanding industries, such as aerospace, as they are weight-sensitive for a given requirement of strength and stiff ness, corrosion resistant, potentially multi-functional and can be tailored according to the application. However, they are in particular difficult to join as they cannot be easily machined, without introducing damages which can eventually grow. Any structure is as strong as its weakest joint. Most of the joints belong to the category of mechanically-fastened joints and they pose enormous challenges in modeling due to contact phenomena, nonlinearity and stress concentration factors. It is therefore a necessity to construct an efficient model that would include all the relevant contact phenomena in the joints, as it has been pointed out in literature that damage typically initiates near the joint holes. The focus of this work is to describe the construction of an asymptotically-correct model using the Variational Asymptotic Method (VAM). Amongst its many potential applications, VAM is a well-established analytical tool for obtaining the stress and strain fields for beams and shells. The methodology takes advantage of the small parameter that is inherent in the problem, such as the ratio of certain characteristic dimensions of the structure. In shells and beams, VAM takes advantage of the dimension-based small parameter(s), thereby splitting the problem into 2-D + 1-D (for beams) and 1-D + 2-D (for shells), in turn offering very high computational efficiency with very little loss of accuracy compared to dimensionally unreduced 3-D models. In this work, the applicability of VAM is extended to two-dimensional (2-D) and three-dimensional (3-D) frictionless contact problems. Since a generalised VAM model for contact has not been pursued before, the `phantom0 step is adopted for both 2-D and 3-D models. The development of the present work starts with the construction of a 2-D model involving a large rectangular plate being pressed against a rigid frictionless pin. The differential equations governing the problem and the associated boundary conditions are obtained by minimizing the reduced strain energy, augmented with the appropriate gap function, by using a penalty method. The model is developed for both isotropic and orthotropic cases. The boundary value problem is solved numerically and the displacement field obtained is compared with the one obtained using commercial software (ABAQUSr) for validation at critical regions such as the contact surfaces. Banking on the validation of the 2-D model, a 3-D model with a pin and a finite annular cylinder was constructed. The strain energy for the finite cylinder was derived using geometrically exact 3-D kinematics and VAM was applied leading to the reduction in the strain energy for isotropic and orthotropic materials in rectangular and cylindrical co-ordinates. As in the 2-D case, the reduced strain energy, subject to the inequality constraint of the gap function, is minimized with respect to the displacement field and the corresponding boundary value problem is solved numerically. The displacements of the contact surface and the top surface of the annular cylinder are compared with those from ABAQUS and thus validated. The displacement fields obtained using the current 2-D and 3-D models show very good agreement with those from commercial finite element software packages. The model could be re ned further by using the gap function derived in this work and applying it to a plate model based on VAM, which could be explored in the future.

Grease-lubricated journal bearings are widely used in heavy duty applications, such as construction equipment, agriculture- and forest machines. The main purpose of the grease-lubricated journal bearing is solely to create sustainable rotation of a given application. However, purpose seldom decides complexity of journal bearing design. Depending on application, parameters such as Load , Material  and Lubrication immensely increase complexity of the design. Tribology is a highly interdisciplinary subject, which requires knowledge concerning physics, chemistry, metallurgy and solid mechanics. Tribological aspects of a design are frequently regarded as irrelevant. Tribological issues are commonly enlightened in combination with structural design weaknesses. The main aim of the thesis was to analyze two cylinder joints found in a Komatsu Forest 951 crane and establish root cause to the structural and tribological issues. Outline of the approach was divided into three main targets: 1. Investigate mechanical and tribological aspects of the crane design. 2. Understand how these aspects influence the life time of the bearings. 3. Summarize the analysis and suggest improvements based on the discovery. Fundamental structural and tribological design guidelines regarding grease-lubricated journal bearings have been presented in this thesis. Damaged components such as cylinders, pins and journal bearings have been examined at Komatsu Forest’s factory in Umeå. Further, a scanning electron microscopy study has been done at Luleå University of Technology, to determine predominant wear mechanisms in the harvester crane joints. A non-linear finite element model of the crane has been designed to represent pressure distribution in the contact between bearing and pin. The finite element analysis gives a good approximation of the contact but leaves room for further refinements. Temperatures, in the contacts, have not been identified and will be measured outside the time frame of the master’s thesis. Design changes, with respect to discovered structural and tribological issues have been suggested. The suggested improvements can potentially increase the life time of lift cylinders, pins and journal bearings.

[pt] Este trabalho tem como finalidade comparar e analisar diferentes modelos numéricos na análise do processo de queda de blocos com diferentes geometrias, para que seja possível determinar os riscos à infraestrutura e à população local que este evento pode causar. Foram utilizados o software RAMMS e o programa de modelagem PFC3D para simulação de queda de blocos. O primeiro foi desenvolvido pelo instituto suíço WSL, o software utiliza a dinâmica não suave (nonsmooth), não havendo penetração dos blocos com a superfície, e as leis de contato são feitas por restrições. O segundo utiliza o método dos elementos discretos através de dinâmica de contato suave. Na primeira parte do trabalho foram realizadas simulações de casos simples de queda de blocos para ambos os modelos, a fim de analisar o principal parâmetro do contato rocha-solo de cada programa com o alcance das rochas. O modelo de contato no programa PFC3D utilizado foi o método linear, e depois foi adicionada uma força de resistência ao rolamento para que o modelo conseguisse reproduzir o comportamento de solos mais macios. Os modelos foram simulados para casos reais, primeiro foram aplicados para uma encosta na BR116, onde um evento de deslizamento já tinha ocorrido. Foram realizadas simulações com os dois modelos na região, comparando-os e analisando com os vestígios deixados pelo evento. Outro caso estudado foi o de blocos susceptíveis ao deslizamento no bairro Glória, no município de Petrópolis. E por último, foram criados modelos para analisar o comportamento da vegetação em ambos os modelos. Com os resultados obtidos, conclui-se que o PFC3D consegue simular o processo de queda com melhor precisão através do auxílio da força de resistência ao rolamento. Para ambas simulações, o caso da BR116 e o do bairro Glória, os modelos apresentarem uma mesma tendência quanto a trajetória do bloco, mas melhorias na calibração do modelo linear com resistência ao rolamento precisam ser realizadas para que melhores resultados sejam obtidos. A presença de vegetação se mostrou como um mecanismo muito eficiente para perdas de energia no sistema, diminuindo significativamente a velocidade dos blocos. / [en] The aim of this work is to compare and analyze different numerical models on the rockfall process with different geometries, to determine the risks to the local infrastructure and population. It was used the software RAMMS and the modeling program PFC3D to simulate rockfall events. The first software was developed by the Swiss institute WSL, it uses the nonsmooth dynamics system, it is a dynamic behavior where there is no penetration between the rock and the surface and the contact laws are created by restrictions laws. And the second one uses the discrete element method applying the smooth dynamics system to simulate the event. On the first part of the work, numerical models were created on both models to simulate simple cases of rockfall events, to compare the main soil-rock parameter of both modeling program with the distance reached of the rocks. The contact model used on the PFC3D program was the linear method, and after the first simulations was added a rolling resistance force to the model reproduce soft. Both models were applied to real cases, the BR116 was the first case modeled, where some natural hazards have already happened. The results of the numerical simulations were compared and analyzed. It was also created a model to simulate the rockfall event of the Gloria neighborhood, in Petropolis; rocks that could fall were determined and simulations for those blocks were performed, the deposition area and the blocks trajectory of each model were examined. And finally, it was studied the vegetation effect of each model and its particularities. Through the results, it is possible to conclude that the PFC3D can simulate the rockfall process with better accuracy using the rolling resistance method. For both simulation, the BR116 and the Gloria neighborhood, the models showed the same tendency of the blocks trajectory, but it is necessary to improve the calibration of the rolling resistance coefficient. The existence of the vegetation revealed as a very effect lose energy mechanism on the system, decreasing significantly the velocity of the blocks.

Ce travail de thèse Cifre, réalisé dans le cadre de la collaboration avec la société Elbi, porte sur la modélisation de la géométrie et de la cinématique du système vis à rouleaux. Ce travail analyse la cinématique et la géométrie du mécanisme de vis à rouleaux satellites (RSM) pour fournir une base fondamentale pour soutenir ses diverses applications. Un modèle 3D du système vis à rouleaux est développé. Un code numérique a été développé en fonction de la géométrie et la cinématique du système de vis à rouleaux. Le champ d’effort et le champ de pression en fonction des défauts de forme et de la géométrie sont obtenus dans ce travail. Ensuite, un modèle 3D du moment de frottement dans le contact entre les surfaces de la vis à rouleaux est développé. La vitesse de glissement et la force de frottement se produisant entre vis/rouleau et entre rouleau/écrou a été calculé conformément à la cinématique, la géométrie et les erreurs de forme. L’efficacité, les pertes par frottement et la durée de vie du mécanisme de la vis à rouleaux en fonction des défauts de forme, de la cinématique et de la géométrie sont obtenues. Ces résultats numériques montrent le rendement important du système de vis à rouleaux en fonction des défauts de forme (autour de 97%). Par ailleurs, une partie expérimentale a été faite sur un banc d’essais électromécanique en collaboration avec le laboratoire Ampère d’Insa de Lyon afin de comparer les résultats expérimentaux avec les résultats théoriques. Ces expériences nous permettent de découvrir plusieurs sources de pertes de frottement dans l’ensemble du banc d’essais, ce qui confirme le faible rendement obtenu expérimentalement (autour de 50 %) pour tout l’ensemble (vérin électromécanique, réducteur). Quelques optimisations ont été effectuées pour améliorer l’efficacité de l’ensemble. Mais il reste difficile de quantifier l’efficacité de système (vis-rouleaux-écrou) expérimentalement. Pour cela, des essais manuels effectués en utilisant le système vis à rouleaux seul confirme les résultats numériques. Une autre partie expérimentale (en utilisant les machines MTM et HFRR) a été faite afin d’obtenir l’influence du lubrifiant sur le coefficient de frottement. Quatre huiles de différentes caractéristiques ont été utilisées. Ces huiles ont été utilisées sur le banc d’essais, mais l’influence du lubrifiant sur le rendement de l’assemblage n’est pas obtenue à cause de la rugosité importante des surfaces de contact du système vis à rouleaux. / This PhD work, carried out in collaboration with the Elbi company concerns the modeling of the geometry and the kinematics of the roller screw system. This work analyzes the ki- VII Résumé nematics and the geometry of the planetary roller screw mechanism (RSM) to provide a fundamental basis to support its various applications. A 3D model of the roller screw system is developed. A numerical code has been developed as a function of the geometry and the kinematics of the roller screw system. The force and the contact pressure distribution as a function of form errors and geometry are obtained in this work. Then, a 3D model of the frictional moment was developed. The sliding speed and the frictional force (between screw/roller and roller/nut) was calculated as a function of the kinematics, the geometry and the form error. Efficiency, frictional losses and the lifetime of the roller screw mechanism as a function of the form errors, the kinematics and geometry are obtained. These numerical results show the high efficiency of the roller screw system (around 97 %). Furthermore, experiments were performed on an electromechanical bench in collaboration with the laboratory Ampére of INSA Lyon, to compare these results with theoretical predictions. These experiments reveal several sources of friction losses, which confirms the low efficiency obtained experimentally (around 50 %) for the complete system (electromechanical actuator and gearbox). Some optimizations have been made to improve the efficiency of the assembly. But it remains difficult to quantify the efficiency of the set (screw-roller-nut) experimentally because of the presence of many sources of friction. To attain this goal, manual tests using the single roller screw system confirm the numerical results. Furthermore, another experimental part (using the HFRR and MTM Machines) was carried out to obtain the influence of the lubricant on the friction coefficient. Four oils of different characteristics were used. These four oils were used on the test bench, but the influence of the lubricant on the performance of the system was not obtained due to the high roughness of the contact surfaces of the roller screw system.

Uma implementação computacional baseada nos conceitos da mecânica do contato e no Método dos Elementos de Contorno é desenvolvida para simular a interação entre discos de corte e maciço rochosos. Simula-se o contato considerando-se inicialmente uma superfície potencial de contato que é atualizada durante um processo de carregamento incremental, podendo conter elementos separados, em contato sem deslizamento ou com deslizamento parcial. A cada passo do carregamento incremental estima-se a configuração do modelo e os dados obtidos neste passo serão utilizados como parâmetros no passo seguinte até que todo o carregamento esteja aplicado. O modelo em estudo consiste em dois discos de corte paralelos atuando sobre uma base sólida com característica elástica linear. São feitas duas simulações com os discos de corte. Na primeira delas, compara-se a penetração dos discos utilizando-se como parâmetro os valores calculados em uma análise por elementos finitos. No segundo caso, estuda-se a distribuição de tensões no maciço quando se altera o espaçamento entre os discos para um mesmo carregamento. Além desta análise, duas outras comparações são feitas utilizando como parâmetros soluções analíticas e numéricas de modelos clássicos da mecânica do contato. São estes: cilindro e pilar em base elástica. / A computational implementation based on contact mechanics and on the Boundary Element Method is developed in order to simulate the interaction between disc cutters and rock mass. The contact simulation considers initially a potential contact area which is updated during an incremental load process, in such way the surface can include elements in separation, stick or partial slip. At each incremental load step the configuration of the model shall be evaluated and the values computed at such step are used as parameter to the next load step until the end of the loading process. The investigated model consists in two parallel cutter discs on a flat elastic foundation. In the first simulation the penetration of the discs are studied and the results are compared against a finite element simulation. In the second simulation, the stress distribution in the rock mass is evaluated considering different spacing between the disc cutters by keeping the same load. In addition, two benchmark problems of contact mechanics, such as the cylinder and the flat punch on a elastic foundation, were modeled in order to validate the proposed algorithm. The obtained results were compared against analytical and numerical solutions.

Orientador: Alberto Luiz Serpa / Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecânica / Made available in DSpace on 2018-08-22T21:32:28Z (GMT). No. of bitstreams: 1 Ferreira_LuanJoseFranchini_M.pdf: 31334961 bytes, checksum: 0c668b476e8b23fc3d0c578acdda9020 (MD5) Previous issue date: 2013 / Resumo: O vibro-impacto de vigas ocorre devido ao contato intermitente das estruturas na presença de folgas, gerando desgaste excessivo, vibração com grandes amplitudes, falhas prematuras de componentes e altos níveis de ruído. A determinação da resposta no domínio do tempo do sistema, ou seja, deslocamentos, velocidades e acelerações, juntamente com os esforços de contato são de fundamental importância para o projeto desses sistemas, na prevenção de falhas e no controle de vibrações e ruído. Foi desenvolvido um código utilizando a linguagem MATLAB que a partir dos dados de uma malha de elementos finitos de viga, determina a resposta dinâmica da viga sobre a condição de vibro-impacto. A resposta dinâmica foi obtida utilizando a integração numérica da equação do movimento discretizada. Os métodos de integração numérica da diferença centrada, Newmark e alpha-HHT foram implementados para o caso de contato intermitente e utilizados na determinação da resposta dinâmica da estrutura. A condição de contato intermitente originada pelo processo de vibro-impacto foi tratada avaliando a condição de não penetração dos corpos nos instantes de tempo específicos definidos pelo intervalo de tempo utilizado na integração numérica. Os modelos de contato mecânico utilizados foram os modelos de força de contato proporcional e o cúbico / Abstract: The vibro-impact of beams occurs due to intermittent contact of the structures in the presence of clearances, generating excessive wear, vibration with large amplitudes, premature failure of components and high noise level. A MATLAB code was developed using the finite element model of the beam, obtaining the dynamic response of the beam with the vibro-impact condition. The dynamic response was obtained using numerical integration of the discretized equation of motion. The numerical integration method of the central difference, Newmark and alpha-HHT were implemented for the case of contact and used for the determination of the structure time response. The contact condition caused by vibro-impact process was treated evaluating the condition of nonpenetration bodies in specific instants of time defined by the numerical integration method. The mechanical contact models proportional force and cubic force were used / Mestrado / Mecanica dos Sólidos e Projeto Mecanico / Mestre em Engenharia Mecânica

Les enjeux environnementaux actuels, ainsi que la hausse continue du prix du pétrole, ont incité les constructeurs automobiles du monde entier à améliorer le rendement de leurs véhicules. Les propriétés tribologiques des lubrifiants des moteurs et boîtes de vitesses ont une influence considérable sur le rendement global des véhicules. Ils réduisent en effet le frottement généré par un grand nombre de contacts, et permettent parfois la réduction de la taille de différents composants en leur conférant une meilleure résistance à l’usure. Les avancées récentes en termes de synthèse de nanoparticules ont ouvert de nouvelles perspectives en termes d’additivation de lubrifiants avec, par exemple, la découverte des excellentes propriétés tribologiques des nanoparticules inorganiques de type fullerène comme le disulfure de molybdène ou de tungstène. L’objectif de ce manuscrit est d’évaluer le potentiel tribologique des nanoparticules IF-MoS2 dans l’optique d’une application automobile. L’influence de la taille et de la structure des nanoparticules a d’abord été étudiée. Les nanoparticules peu cristallines se sont révélées être plus aptes à maintenir un tribofilm performant sur des surfaces en acier dans des conditions de lubrification limite, indépendamment de leur taille. Toutes les nanoparticules testées ont cependant atteint des performances équivalentes lorsqu’une recirculation de l’huile était imposée, permettant de maintenir une alimentation continue du contact en nanoparticules. Une fois incorporées dans une formulation d’huile complète, les nanoparticules IF-MoS2 perdent leurs propriétés tribologiques. Les dispersants contenus dans l’huile, bien que permettant une bonne dispersion des IF-MoS2, semblent responsables de leur inefficacité en empêchant la formation de tribofilms sur les surfaces antagonistes. Une fois correctement dispersées, les nanoparticules pénètrent toujours le contact et se retrouvent bien exfoliées. Une adsorption excessive des dispersants sur les feuillets de MoS2 ainsi libérés et/ou sur les surfaces en acier semble nuire à l’adhésion du tribofilm. Un équilibre entre dispersion des nanoparticules et performance tribologique a ensuite été trouvé, en utilisant de très faibles concentrations de dispersants. Le comportement des huiles dopées en nanoparticules dans des conditions plus proches d’une application automobile a finalement été exploré. Les IF-MoS2 ont permis une réduction significative du frottement et de l’usure à température ambiante et en roulement/glissement, à la fois pour des surfaces lisses et rugueuses. Les risques associés à la présence de nanoparticules dans l’huile dans les régimes de lubrification en film complet ont été partiellement levés. Aucun impact significatif n’a en effet été constaté sur le coefficient de frottement pour l’ensemble des conditions d’essais retenues. Le potentiel des nanoparticules IF-MoS2 pour la protection des surfaces soumises à la fatigue de contact a enfin été démontré. / The growing environmental concerns, along with the continuous increase in the price of fossil fuels, have highly motivated car manufacturers worldwide to improve the efficiency of their vehicles. The tribological properties of engine and gearbox lubricants have a significant impact on the global efficiency of vehicles, as they contribute to reducing friction in many contacts and allow the downsizing of various components by providing their surfaces with anti-wear protection. The recent breakthroughs in nanoparticle synthesis have opened new prospects in terms of lubricant additivation, with the discovery of the excellent friction and wear reducing properties of nanoparticles such as Inorganic Fullerene-like (IF-) molybdenum or tungsten disulfides. The tribological potential of IF-MoS2 for automobile applications was investigated in this work. The respective influences of nanoparticle size and structure were first of all studied, revealing that poorly crystalline nanoparticles were more efficient in maintaining low-friction tribofilms on steel substrates in severe boundary lubrication regimes regardless of size (for the range studied). All the nanoparticles tested however showed similar performances when proper oil recirculation was ensured, providing a continuous feeding of the contact in nanoparticles. The IF-MoS2 nanoparticles lost their lubricating abilities when added to fully-formulated lubricants. This behavior was attributed to the presence of dispersants in the oil, which dispersed the nanoparticles effectively but prevented them from forming tribofilms on the rubbing surfaces. The well-dispersed IF-MoS2 were shown to enter the contact and exfoliate, but an excessive adsorption of the dispersants on the released MoS2 platelets and/or the steel surfaces is thought to prevent tribofilm adhesion. A balance between nanoparticle dispersion and tribological performance was then found, by using very low concentrations of dispersants. The behavior of nanoparticle-doped oils in various scenarios related to automobile applications was finally explored. The IF-MoS2 provided significant friction and wear reduction at ambient temperature and in milder rolling/sliding test conditions, for smooth and rough surfaces. The risks related to the presence of nanoparticles in the oil in full-film lubrication regimes were partially lifted, with no significant influence on friction witnessed for all the test conditions considered. The ability of IF-MoS2 nanoparticles to protect steel surfaces from surface-initiated Rolling Contact Fatigue was finally shown.

Le comportement local au contact et son interaction avec la dynamique globale du système sont à l'origine d’innombrables problèmes de contact concernant plusieurs disciplines telles que la tribologie, la géophysique, la mécanique de vibration ou la mécanique de la rupture. Lorsque deux corps élastiques sont en mouvement relatif avec une interface de frottement, des vibrations induites se produisent dans le système. Dans un point de vue macroscopique, le scénario macroscopique de stick-slip survenant pendant le mouvement relatif est caractérisé par la chute soudaine de la force de frottement (état de glissement), séparées par des périodes d'accumulation d'énergie élastique (état d’adhérence). Autrement, une instabilité dynamique se produit quand un mode de vibration du système mécanique devient instable en raison des forces de frottement. Ces types d'instabilités, générées par des forces de frottement, ont été principalement objet de publies traitant de problèmes spécifiques dans différents domaines. Dans ce contexte, des analyses expérimentales et numériques ont été ici mis en place pour comprendre comme le comportement de l'interface locale affecte la réponse macroscopique du système et vice-versa, au cours de scénarios d'instabilité. Les scénarios macroscopiques (instabilité de « stick-slip macroscopique », instabilité modale, glissement continu stable), survenant entre deux milieux élastiques simples en mouvement relatif, ont été étudiés numériquement et expérimentalement. Un dispositif expérimental dédié (TRIBOWAVE) a été développé et a permis de reproduire et examiner les différents scénarios de frottement dans des conditions aux limites bien contrôlées. Les mêmes scénarios de frottement ont été reproduits par des simulations numériques transitoires. Une loi de frottement en fonction du temps d’adhérence (stick) a été définie à partir des essais expérimentaux. La loi de frottement obtenue a été mise en œuvre dans le modèle numérique, conduisant à une validation quantitative des scénarios de frottement par les expériences. Les simulations transitoires non linéaires, l’analyse aux valeurs propres complexes et les tests expérimentaux ont permis de dessiner des cartes de scénarios d'instabilité en fonction des paramètres clés du système. Validé par la comparaison avec les mesures des signaux expérimentaux globaux (forces, accélérations / vitesse), le modèle numérique a permis d'étudier le couplage entre le comportement du contact local (distribution de l'état du contact, propagation des ondes et des ruptures, précurseurs) et la réponse dynamique du système au cours du « stick-slip macroscopique », de l’instabilité due au couplage modale et du glissement continu stable. La compréhension du couplage entre le contact et la dynamique des systèmes apportera de nouvelles améliorations sur le contrôle des instabilités de contact et les problèmes d'usure connexes. / Local contact behavior and its interaction with the global dynamics of the system are at the origin of innumerable contact issues concerning several different disciplines like tribology, geophysics, vibration mechanics or fracture mechanics. When two elastic media are in relative motion with a frictional interface, friction induced vibrations arise into the system. By a macroscopic point of view, the “macroscopic stick-slip” scenario occurring during relative motion is characterized by sudden friction force drops (sliding state) along the time, separated by periods of elastic energy accumulation (stick state). Instead, the mode dynamic instability occurs when a vibration mode of the mechanical system becomes unstable, due to frictional contact forces. This kind of instabilities, generated by frictional forces, have been mainly object of papers dealing with specific issues in different domains. In this context, experimental and numerical analyses have been focused here on understanding how the local interface behavior affects the macroscopic frictional response of the system, and, conversely, during instability scenarios. The macroscopic frictional scenarios (macroscopic stick-slip instability, mode coupling instability, stable continuous sliding) arising between two simple elastic media in relative motion have been investigated numerically and experimentally. A newer experimental setup (TRIBOWAVE) has been developed and it allowed to reproduce and to investigate the different scenarios under well-controlled boundary conditions. The same frictional scenarios have been reproduced by transient numerical simulations. A dedicated friction law as a function of adherence (sticking) time has been recovered by means of experimental tests. The obtained friction law has been implemented in the numerical model, leading to a quantitative validation of the simulated scenarios by the experiments. Nonlinear transient simulations, complex eigenvalue analyses and experimental tests allowed for drawing instability maps as a function of system key parameters. The numerical model, validated by the comparison with the experimental global measurements (forces, accelerations/velocity), allowed for investigating the coupling between the local contact behavior (contact status distribution, wave and rupture propagation, precursors) and the system dynamic response during macroscopic stick-slip instability, mode coupling instability and stable continuous sliding. The understanding of the coupling between contact and system dynamics will bring to further improvements on the control of contact instabilities and related wear issues.