From Friction Control to Dynamic Ratcheting and Actuation by Combined Normal and Tangential Oscillations

The superposition of normal and tangential oscillations in frictional contacts can fundamentally alter the macroscopic friction law and generate directed motion and force. In this work, we investigate the transition between friction reduction, dynamic ratcheting, and vibrational actuation within a unified numerical framework based on a compliant Coulomb friction contact. The system is subjected to simultaneous harmonic oscillations in the normal and tangential directions with an arbitrary phase shift. First, the limiting cases of purely normal and purely tangential oscillations are revisited, demonstrating that both produce equivalent friction–reduction behavior when expressed in terms of appropriate dimensionless parameters. For sufficiently large tangential oscillation amplitudes, a transition to a bidirectional stick-slip regime is identified, characterized by alternating forward and backward motion within a single oscillation cycle. The general case of dual-mode excitation is then analyzed over a broad parameter range. Numerical simulations show that the macroscopic friction coefficient is governed by four dimensionless parameters: the normalized sliding velocity, the normal oscillation ratio, the tangential oscillation parameter, and the phase shift between the oscillation modes. The combined oscillations break the symmetry of the friction law with respect to the direction of motion, resulting in different critical velocities and friction coefficients for positive and negative sliding directions. Depending on the parameter combination, the system exhibits three distinct operational regimes: active friction control, dynamic ratcheting, and vibrational actuation. In the latter regime, the effective friction coefficient becomes negative, indicating a conversion of oscillatory energy into directed mechanical work. The results provide a unified physical interpretation of oscillation-induced transport and force generation in frictional contacts and establish general design principles for vibration-assisted friction-control systems, dynamic ratchets, and oscillatory actuators.

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