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Dynamics of a Rolling Disk in the Presence of Dry Friction

Le Saux, C. ; Leine, R. I. ; Glocker, C.

In: Journal of Nonlinear Science, 2005, vol. 15, no. 1, p. 27-61

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    Titre
    • Dynamics of a Rolling Disk in the Presence of Dry Friction
    Auteur
    • Le Saux, C.. Institute of Mechanical Systems, Centre of Mechanics, ETH Zentrum, CH-8092 Zurich, Switzerland
    • Leine, R. I.. Institute of Mechanical Systems, Centre of Mechanics, ETH Zentrum, CH-8092 Zurich, Switzerland
    • Glocker, C.. Institute of Mechanical Systems, Centre of Mechanics, ETH Zentrum, CH-8092 Zurich, Switzerland
    Type de document
    • Postprint
    Langue
    • Anglais
    Publié dans
    • Journal of Nonlinear Science, 2005, vol. 15, no. 1, p. 27-61. Springer-Verlag; www.springer-ny.com
    Autre version électronique
    Classification
    • Informatique
    Mots clés
    Identifiant OAI-PMH
    • oai:doc.rero.ch:319317
    Summary
    In this paper we are interested in the dynamics and numerical treatment of a rolling disk on a flat support. The objective of the paper is to develop a numerical model which is able to simulate the dynamics of a rolling disk taking into account various kinds a friction models (resistance against sliding, pivoting and rolling). A mechanical model of a rolling disk is presented in the framework of Non-smooth Dynamics and Convex Analysis. In an analytical study, approximations are derived for the energy decay of the system during the final stage of the motion for various kinds of frictional dissipation models. Finally, the numerical and analytical results are discussed and compared with experimental results available in literature