On the Motion of the Chaplygin Sleigh Along a Horizontal Plane with Friction in the Asymmetric Case
Received 19 December 2021; accepted 03 April 2022
2022, Vol. 18, no. 2, pp. 243-251
Author(s): Shamin A. Y.
This paper addresses the problem of the motion of the Chaplygin sleigh, a rigid body moving
with three points in contact with a horizontal plane. One of them is equipped with a knife edge
along which there is no slipping. Special attention is given to the case where dry friction is
present at one of the points of support without the knife edge. The equations of motion of the
body are written, the normal reactions are calculated, and the behavior of the phase curves in
the neighborhood of an equilibrium point, depending on the geometric and mass characteristics
of the body, is investigated by the method of introducing a small parameter.
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