Rolling of a Rigid Wheel

Application ID: 28031

The purpose of this model is to demonstrate pure rolling of a rigid wheel when given an initial forward velocity together with a prescribed lean about this direction.

It is assumed that the the rolling motion of the wheel is not affected by contact such that all three components of the velocity at the point of contact with the ground are zero. In order to achieve this, the velocity constraints are converted into displacement constraints, while the yaw, lean and spin motions of the wheel are defined as three hinges and where their three corresponding massless links are created.

This is easily implemented and performed using the Multibody Dynamics.

This model example illustrates applications of this type that would nominally be built using the following products: