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Screw Theory Applied to a Rigid Cylinder Moving on a Plane

[+] Author Affiliations
James Díaz-González

BMT Designers and Planner Inc., Arlington, VA

Lourdes Rosario

University of Puerto Rico at Mayagüez, Mayagüez, Puerto Rico

Paper No. DSCC2011-5908, pp. 49-56; 8 pages
doi:10.1115/DSCC2011-5908
From:
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 2
  • Arlington, Virginia, USA, October 31–November 2, 2011
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5476-1
  • Copyright © 2011 by ASME

abstract

In this work a mathematical model of the motion of a cylinder moving on a plane is deduced using screw theory. The linear Coulomb friction equations are applicable for the maximum static and kinetic friction forces. In the case of the rolling motion of a cylinder, the friction forces are not necessarily maxima. This paper describes the dynamic states of motion of a cylindrical part moving in three separate scenarios by the Euler dual equation. The first scenario is when the cylinder is moving on a horizontal static plane due to an external harmonic force proportional to the mass of the part. For this case, the sliding conditions are expressed as a function of the vibration parameters and generalized based on a harmonic dimensionless variable. The second and third scenarios are when the cylinder is moving by translational displacements on a horizontal and inclined plane.

Copyright © 2011 by ASME
Topics: Screws , Cylinders

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