中文摘要：

以自动取款机的轮-铲摩擦学系统为研究对象，建立了无黏着刚性接触条件下理想球形粒子侵入轮．铲摩擦学系统的静力学计算模型；分析了单个粒子在完整侵入过程中所受的侵入力及其临界侵入条件和侵入运动方式；进一步探讨了粒子在黏着摩擦作用下的侵入条件．结果表明：在无黏着刚性接触条件下，粒子侵入与否仅取决于初始侵入位置；在不同界面条件下，不同粒径粒子的侵入以滚滑运动为主，纯滚动只发生在临界侵入曲线所确定的运动轨迹上；在黏着摩擦作用下，粒子的侵入由表征摩擦副材料和粒子的粒径2个组合特征因子共同决定．

英文摘要：

With the Roller-Scraper tribosystem in ATM （Automatic Teller Machine）, the static non-adhesion contact model of sphere particle intruding into the tribosystem was established. The intrusion force of single particle during a full intrusion process was investigated, and the critical intrusion condition and the movement patterns during intrusion were studied. Furthermore, the particle intrusion under adhesion contact condition was investigated. The full intrusion was determined at the initial intrusion status with the non-adhesion contact model. Under different friction conditions, sliding and rolling were the dominant movement patterns during particle intrusion, and pure rolling happened only at the critical intrusion lines. With the proposed adhesion contact model, the particle intrusion was determined by two combined character factors denoted by the material characters and particle diameter.