On the theory of rubber friction

Rubber exhibits unusual sliding friction. When rubber is slid on a hard, rough substrate, the surface asperities of the substrate exert oscillating forces on the rubber surface leading to energy "dissipation" via the internal friction of the rubber. I estimate this contribution to the friction force and compare the results with the experimental data of Grosch. Because of its low elastic modulus, the adhesion of the rubber to the substrate is very important. I show that the adhesion force will deform the rubber at the rubber-substrate interface, in such a mariner that, at low sliding velocities, the rubber completely follows the short-wavelength surface roughness profile. This gives an additional contribution to the friction force, which is estimated and compared with experimental data. (C) 1998 Elsevier Science B.V. All rights reserved.