Abstract:
We consider the motion of a system consisting of a rigid body and internal movable masses on a rough surface. The possibility of rotation of the system around its center of mass due to the motion of internal movable masses is investigated. To describe the friction between the body and the reference surface, a local Amontons – Coulomb law is selected. To determine the normal stress distribution in the contact area between the body and the surface, a linear dynamically consistent model is used. As examples we consider two configurations of internal masses: a hard horizontal disk and two material points, which move parallel to the longitudinal axis of the body symmetry in the opposite way. Motions of the system are analyzed for selected configurations.
This work was supported by the basic part of the state assignment in the field of scientific activity No. 2014/120 “Investigation of the regularities in the dynamics of systems with friction and the development of mobile robots without external drivers” (research No. 2583) and the Russian Foundation for Basic Research (No. 14-01-00432).
Citation:
Alexander V. Sakharov, “Rotation of the Body with Movable Internal Masses Around the Center of Mass on a Rough Plane”, Regul. Chaotic Dyn., 20:4 (2015), 428–440
\Bibitem{Sak15}
\by Alexander V. Sakharov
\paper Rotation of the Body with Movable Internal Masses Around the Center of Mass on a Rough Plane
\jour Regul. Chaotic Dyn.
\yr 2015
\vol 20
\issue 4
\pages 428--440
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This publication is cited in the following 8 articles:
Roman Starosta, Paweł Fritzkowski, “Inertial Forces and Friction in Propulsion of a Rigid Body”, Applied Sciences, 15:2 (2025), 517
Marat Dosaev, “Algorithm for controlling an inertioid robot with a flywheel and an unbalance in conditions of restrictions on the angular acceleration of the unbalance”, Applied Mathematical Modelling, 109 (2022), 797
Dosaev M. Samsonov V. Hwang Sh.-Sh., “Construction of Control Algorithm in the Problem of the Planar Motion of a Friction-Powered Robot With a Flywheel and An Eccentric Weight”, Appl. Math. Model., 89:2 (2021), 1517–1527
S. V. Semendyaev, “Solid system with two massive eccentrics on a rough plane: rotational case”, IFAC-PapersOnLine, 51:2 (2018), 884–889
B. S. Bardin, A. S. Panev, “On the motion of a rigid body with an internal moving point mass on a horizontal plane”, Eighth Polyakhov's Reading, AIP Conf. Proc., 1959, eds. E. Kustova, G. Leonov, N. Morosov, M. Yushkov, M. Mekhonoshina, Amer. Inst. Phys., 2018, 030002
S. V. Semendyaev, “Coupled dynamics of solid system with slider-crank mechanisms as internal movers on rough surface with friction”, Coupled Problems in Science and Engineering VII (Coupled Problems 2017), ed. M. Papadrakakis, E. Onate, B. Schrefler, Int. Center Numerical Methods Engineering, 2017, 185–196
E. V. Vetchanin, A. A. Kilin, “Controlled motion of a rigid body with internal mechanisms in an ideal incompressible fluid”, Proc. Steklov Inst. Math., 295 (2016), 302–332
A. P. Ivanov, N. N. Erdakova, “On a mechanical lens”, Int. J. Non-Linear Mech., 79 (2016), 115–121
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