The interaction between deformable bodies and rigid foundations undergoing finite strains is explored in this work with the Method of Multiscale Virtual Power, unlocking novel insights into contact homogenisation theories. The focus lies in establishing the foundational kinematical links across scales and achieving seamless homogenisation of the traction vector through rigorous duality arguments. Two distinct families of contact homogenisation models are formulated: surface–surface and surface–volume models. These families emerge from the virtual power balance established between the target macroscopic surface and the corresponding microscopic contact surface or volume. They not only represent fundamental kinematical entities at each scale but also enable the replacement of the heterogeneous contact traction distribution with a smooth, homogenised version. Microscale equilibrium problems and homogenisation relations, along with the relevant macro- and microscale quantities, are derived by means of straightforward variational arguments. Furthermore, potential finite size effects are addressed in the homogenised response, enhancing the reliability and applicability of the strategy across diverse scenarios. Promising submodels have been identified within both families, broadening the understanding of multiscale contact phenomena and including existing models as particular cases. The proposed continuum-based variational families of models naturally lead to generic finite element-based frameworks for contact homogenisation of heterogeneous solids, as described in a forthcoming paper.
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