Adjustment of Non-Holonomic Constraints by Absolutely Inelastic Tangent Impact in the Dynamics of an Omni-Vehicle

Авторы: Zobova Alexandra A., Gerasimov Kirill V., Kosenko Ivan I.
Сборник: Multibody Dynamics 2019
Серия: Computational Methods in Applied Sciences
Том: 53
Глава в коллективной монографии
Год издания: 2019
Место издания: Springer International Publishing Cham, Switzerland
Первая страница: 518
Последняя страница: 525
DOI: 10.1007/978-3-030-23132-3_62
Аннотация: We consider the motion of a vehicle with omni-wheels that moves along a horizontal plane without slipping. The mass of the rollers is non-zero and influences the dynamics of the system. The system is a multibody system of rigid bodies with non-holonomic constraints. The angular speed of the roller that enters in contact with the plane does not obligatorily satisfy the conditions of non-slipping. We propose to consider the vanishing of this slippage as a tangent inelastic impact. We get the analytic formula for the velocities after impact. It allows simulating the motion as a piecewise smooth system with switches.
Добавил в систему: Зобова Александра Александровна

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