Numerical Modeling of the Dynamics of the Drawn Wheel. Case of Rolling Without Sliding

Abstract When the dynamic study of a solid rigid body subjected to links is wanted to be performed, the main difficulty is that the differential equations of motion contain in their structure the constraint forces which are unknown. Therefore it is necessary to remove them from the differential equations that describe the motion of the rigid body. The case of a wheel climbing on an inclined plane has been presented in this paper. It is considered that the wheel is rolling without sliding on an inclined plane.