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This article is cited in 6 scientific papers (total in 6 papers)
On the Normal Force and Static Friction Acting on a Rolling Ball Actuated by Internal Point Masses
Vakhtang Putkaradzea, Stuart M. Rogersb a Department of Mathematical and Statistical Sciences, Faculty of Science, University of Alberta, CAB 632, Edmonton, AB T6G 2G1, Canada
b Institute for Mathematics and its Applications, College of Science and Engineering, University of Minnesota, 207 Church Street SE, 306 Lind Hall, Minneapolis, MN 55455, USA
Abstract:
The goal of this paper is to investigate the normal and tangential forces acting at the point of contact between a horizontal surface and a rolling ball actuated by internal point masses moving in the ball’s frame of reference. The normal force and static friction are derived from the equations of motion for a rolling ball actuated by internal point masses that move inside the ball’s frame of reference, and, as a special case, a rolling disk actuated by internal point masses. The masses may move along one-dimensional trajectories fixed in the ball’s and disk’s frame. The dynamics of a ball and disk actuated by masses moving along one-dimensional trajectories are simulated numerically and the minimum coefficients of static friction required to prevent slippage are computed.
Keywords:
nonholonomic mechanics, holonomic mechanics, rolling balls, rolling disks.
Received: 06.10.2018 Accepted: 17.09.2019
Citation:
Vakhtang Putkaradze, Stuart M. Rogers, “On the Normal Force and Static Friction Acting on a Rolling Ball Actuated by Internal Point Masses”, Regul. Chaotic Dyn., 24:2 (2019), 145–170
Linking options:
https://www.mathnet.ru/eng/rcd450 https://www.mathnet.ru/eng/rcd/v24/i2/p145
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Abstract page: | 186 | References: | 43 |
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