The Hertz-Mindlin (no slip) contact model is the default model used in EDEM due to its accurate and efficient force calculation.
In particular, the normal force, Fn, is a function of normal overlap
δn defined as:
The equivalent Young’s Modulus E* and the equivalent radius R*
are defined as:
With Ei, vi, Ri, and Ej, vj,
Rj, being the Young’s Modulus, Poisson's ratio, and radius of each
sphere in contact. Additionally, there is a damping force,
Fnd, defined as:
Where m* is the equivalent mass, vnrel is the normal
component of the relative velocity, and β and Sn (the normal stiffness)
defined as:
With the Coefficient of Restitution e, the tangential force, Ft, depends
on the tangential overlap δt and the tangential stiffness
St.
with
Here, G* is the equivalent Shear modulus. Additionally, tangential damping
is defined as:
Where vtrel is the relative tangential velocity. The tangential
force is limited by the Coulomb friction μsFn, where
μs is the Coefficient of Static Friction.