.PlanarMechanics.VehicleComponents.Wheels.DryFrictionWheelJoint

Information

The ideal wheel joint models the behavior of a wheel rolling on a x,y-plane whose contact patch has dry-friction characteristics. This is an approximation for stiff wheels without a tire.

The force depends with dry-friction characteristics on the slip velocity. The slip velocity is split into two components:

• the lateral velocity
• the longitudinal velocity minus the rolling velocity times the radius.

The radius of the wheel can be specified by the parameter radius. The driving direction (for phi = 0) can be specified by the parameter r. The normal load is set by N.

The wheel contains a 2D connector frame_a for the steering on the plane. The rolling motion of the wheel can be actuated by the 1D connector flange_a.

For examples of usage see the local Examples package.

Revisions

Developed 2010 at the DLR Institute of System Dynamics and Control