相关论文: The vector field of a rolling rigid body

The main theme of the article is the study of discrete systems of material points subjected to constraints not only of a geometric type (holonomic constraints) but also of a kinematic type (nonholonomic constraints). The setting up of the…

In a previous article by the author, it was shown that one could effectively give a variational formulation to non-conservative mechanical systems by starting with the first variation functional instead of an action functional. In this…

A $k$-symplectic framework for classical field theories subject to nonholonomic constraints is presented. If the constrained problem is regular one can construct a projection operator such that the solutions of the constrained problem are…

We introduce a class of examples which provide an affine generalization of the nonholonomic problem of a convex body rolling without slipping on the plane. We investigate dynamical aspects of the system such as existence of first integrals,…

In this paper, variational techniques are used to analyze the dynamics of nonholonomic mechanical systems with impacts. Implicit nonholonomic smooth Lagrangian and Hamiltonian systems are extended to a nonsmooth context appropriate for…

Two effective methods for writing the dynamical equations for non-holonomic systems are illustrated. They are based on the two types of representation of the constraints: by parametric equations or by implicit equations. They can be applied…

A nonholonomic system is a mechanical system with velocity constraints not originating from position constraints; rolling without slipping is the typical example. A nonholonomic integrator is a numerical method specifically designed for…

The geometry of hypersurfaces is generalized to pseudo-hypersurfaces, which are defined by Pfaff equations. The general methods are then applied to modeling the kinematics of motion constrained by a single linear, non-holonomic constraint.…

This paper studies hamiltonization of nonholonomic systems using geometric tools. By making use of symmetries and suitable first integrals of the system, we explicitly define a global 2-form for which the gauge transformed nonholonomic…

We consider some differential geometric classes of local and nonlocal Poisson and symplectic structures on loop spaces of smooth manifolds which give natural Hamiltonian and multihamiltonian representations for some important nonlinear…

Vakonomic mechanics has been proposed as a possible description of the dynamics of systems subject to nonholonomic constraints. The aim of the present work is to show that for an important physical system the motion brought about by…

We study the class of nonholonomic mechanical systems formed by a heavy symmetric ball that rolls without sliding on a surface of revolution, which is either at rest or rotates about its (vertical) figure axis with uniform angular velocity.…

The paper deals with the problem of integration of equations of motion in nonholonomic systems. By means of well-known theory of the differential equations with an invariant measure the new integrable systems are discovered. Among them…

The paper is concerned with mechanical systems which are controlled by implementing a number of time-dependent, frictionless holonomic constraints. The main novelty is due to the presence of additional non-holonomic constraints. We develop…

In this paper, we derive a "hamiltonian formalism" for a wide class of mechanical systems, including classical hamiltonian systems, nonholonomic systems, some classes of servomechanism... This construction strongly relies in the geometry…

We consider nonholonomic systems which symmetry groups consist of two subgroups one of which represents rotations about the axis of symmetry. After nonholonomic reduction by another subgroup the corresponding vector fields on partially…

We give a geometric description of variational principles in mechanics, with special attention to constrained systems. For the general case of nonholonomic constraints, a unified variational approach is given, and the equations of motion of…

We demonstrate the usefulness of anholonomic frames in the contexts of nonholonomic and vakonomic systems. We take a consistently differential-geometric approach. As an application, we investigate the conditions under which the dynamics of…

In the present article the geometry of semi-Riemannian manifolds with nonholonomic constraints is studied. These manifolds can be considered as analogues to the sub-Riemannian manifolds, where the positively definite metric is substituted…

The geometric formulation of Hamilton--Jacobi theory for systems with nonholonomic constraints is developed, following the ideas of the authors in previous papers. The relation between the solutions of the Hamilton--Jacobi problem with the…