We give a mathematical description of the initial stage both axles skidding for wheeled vehicle on bend that arises in case blocking or slipping wheels one its axles. It is shown within framework Zhuravlev’s model friction, which takes into account moments spinning friction (they appear as result interaction with reference plane), less than Coulomb model.

Free and forced oscillations of a torsion spring pendulum damped by viscous and dry (Coulomb) friction are investigated analytically and with the help of computer simulations. An idealized mathematical model of dry friction described by the so-called z-characteristic is assumed. This simple physical model can explain many peculiarities in behavior of various oscillatory systems with dry frictio...

Modelling and identification of flexible-joint robots is required for dynamic simulation and model based control of industrial robots. A nonlinear finite element based method is used to derive the dynamic equations of motion in a form suitable for both simulation and identification. The latter requires that the equations of motion are linear in the dynamic parameters. For accurate simulations o...

This paper establishes a dynamics model for deploying solar panels with clearances by using a practical method and provides a useful way to identify the effects of clearances on spacecraft systems. Considering the clearance of joints, a contact dynamic model is established using the nonlinear spring-damp model and the friction effect is considered by using the Coulomb friction model. Based on t...

-We describe slip-rate dependent friction laws based on the Coulomb failure criteria. Frictional rate dependence is attributed to a rate dependence of cohesion c and friction angle qS. We show that differences in the stress states developed during sliding result in different Coulomb friction taws for distributed shear within a thick gouge layer versus localized shear within a narrow shear band ...

The construction of fast and reliable solvers for contact problems with friction is even nowadays a challenging task. It is well known that contact problems with Coulomb friction have the weak form of a quasi-variational inequality [KO88, HHNL88, NJH80]. For small coefficients of friction, a solution can be obtained by means of a fixed point iteration in the boundary stresses [NJH80]. This fixe...

Effective modeling and control of multibody systems interacting with their environment through frictional contact remains a challenging problem. In this paper, we address the planar version of this problem by developing a general method to compute the instantaneous dynamic solution for planar rigid bodies interacting with their environment through Coulomb frictional contacts. The resulting anal...

Abstract. Several robotic system applications require manipulators to carry heavy payloads while operating from moving vehicles. These manipulators are mounted on moving/compliant bases, introducing additional degrees of freedom that are not actuated, increasing the complexity of the dynamic modeling and control. In this paper, a control strategy to improve the performance of mobile robotic man...