Substrate deformability and applied normal force are coupled to change nanoscale friction.

Amonton's law of friction states that the friction force is proportional to the normal force in magnitude, and the slope gives a constant friction coefficient. In this work, with molecular dynamics simulation, we study how the kinetic friction at the nanoscale deviates qualitatively from the relation. Our simulation demonstrates that the friction behavior between a nanoscale AFM tip and an elastic graphene surface is regulated by the coupling of the applied normal force and the substrate deformability. First, it is found that the normal load-induced substrate deformation could lower friction at low load while increasing it at high load. In addition, when the applied force exceeds a certain threshold another abrupt change in friction behavior is observed, , the stick-slip friction changes to the paired stick-slip friction. The unexpected change in friction behavior is then ascribed to the change of the microscopic contact states between the two surfaces: the increase in normal force and the substrate deformability together lead to a change in the energy landscape experienced by the tip. Finally, the Prandtl-Tomlinson model also validates that the change in friction behavior can be interpreted in terms of the energy landscape.