Effect of particle stiffness on contact dynamics and rheology in a dense granular flow.

Dense granular flows have been well described by the Bagnold rheology, even when the particles are in the multibody contact regime and the coordination number is greater than 1. This is surprising, because the Bagnold law should be applicable only in the instantaneous collision regime, where the time between collisions is much larger than the period of a collision. Here, the effect of particle stiffness on rheology is examined. It is found that there is a rheological threshold between a particle stiffness of 10^{4}-10^{5} for the linear contact model and 10^{5}-10^{6} for the Hertzian contact model above which Bagnold rheology (stress proportional to square of the strain rate) is valid and below which there is a power-law rheology, where all components of the stress and the granular temperature are proportional to a power of the strain rate that is less then 2. The system is in the multibody contact regime at the rheological threshold. However, the contact energy per particle is less than the kinetic energy per particle above the rheological threshold, and it becomes larger than the kinetic energy per particle below the rheological threshold. The distribution functions for the interparticle forces and contact energies are also analyzed. The distribution functions are invariant with height, but they do depend on the contact model. The contact energy distribution functions are well fitted by Gamma distributions. There is a transition in the shape of the distribution function as the particle stiffness is decreased from 10^{7} to 10^{6} for the linear model and 10^{8} to 10^{7} for the Hertzian model, when the contact number exceeds 1. Thus, the transition in the distribution function correlates to the contact regime threshold from the binary to multibody contact regime, and is clearly different from the rheological threshold. An order-disorder transition has recently been reported in dense granular flows. The Bagnold rheology applies for both the ordered and disordered states, even though the rheological constants differ by orders of magnitude. The effect of particle stiffness on the order-disorder transition is examined here. It is found that when the particle stiffness is above the rheological threshold, there is an order-disorder transition as the base roughness is increased. The order-disorder transition disappears after the crossover to the soft-particle regime when the particle stiffness is decreased below the rheological threshold, indicating that the transition is a hard-particle phenomenon.