Wheel with Dry Friction

Although wheeled vehicles have been an important mode of transportation for more than 5,000 years, the dynamic behavior of wheel-surface interactions is still quite tricky to understand. Here, we study how a wheel modeled with dry friction behaves when driven with a constant torque around a pole.

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The Model

A virtual test rig for the wheel. All model components are available in the PlanarMechanics library and the built-in libraries.
Generated 3D view of the test rig.

Simulation Results

As the wheel starts accelerating, the distance from the center will increase due to lateral slipping. Initially, this slipping is small, and the wheel moves in an almost ideal circle. However, as the slip velocity increases as a result of an increasing centrifugal force, the wheel starts to slide.

Construct a virtual test rig to investigate the effects of dry friction on a rolling wheel

Model sliding friction with PlanarMechanics.