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Regul. Chaotic Dyn., 2013, Volume 18, Issue 3, Pages 277–328 (Mi rcd114)  

This article is cited in 64 scientific papers (total in 66 papers)

The Hierarchy of Dynamics of a Rigid Body Rolling without Slipping and Spinning on a Plane and a Sphere

Alexey V. Borisovabc, Ivan S. Mamaevcba, Ivan A. Bizyaeva

a Institute of Computer Science; Laboratory of Nonlinear Analysis and the Design of New Types of Vehicles, Udmurt State University, Universitetskaya 1, Izhevsk, 426034 Russia
b A. A. Blagonravov Mechanical Engineering Research Institute of RAS, Bardina str. 4, Moscow, 117334, Russia
c Institute of Mathematics and Mechanics of the Ural Branch of RAS, S. Kovalevskaja str. 16, Ekaterinburg, 620990, Russia

Abstract: In this paper, we investigate the dynamics of systems describing the rolling without slipping and spinning (rubber rolling) of various rigid bodies on a plane and a sphere. It is shown that a hierarchy of possible types of dynamical behavior arises depending on the body’s surface geometry and mass distribution. New integrable cases and cases of existence of an invariant measure are found. In addition, these systems are used to illustrate that the existence of several nontrivial involutions in reversible dissipative systems leads to quasi-Hamiltonian behavior.

Keywords: nonholonomic constraint, tensor invariant, first integral, invariant measure, integrability, conformally Hamiltonian system, rubber rolling, reversible, involution

Funding Agency Grant Number
Ministry of Education and Science of the Russian Federation NSh-2519.2012.1
This work was carried out at the Udmurt State University and was supported by Grant of the President of the Russian Federation for Support of Leading Scientific Schools NSh-2519.2012.1 “Dynamical Systems of Classical Mechanics and Control Problems”, Analytic Departmental Target Program “Development of Scientific Potential of Higher Schools” (1.1248.2011), Analytic Depart-mental Target Program ”Development of Scientific Potential of Higher Schools” (1.7734.2013), Federal Target Program “Scientific and Scientific-Pedagogical Personnel of Innovative Russia” (Agreement ¹14.A37.21.1935).


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MSC: 37J60, 37J35
Received: 12.03.2013

Citation: Alexey V. Borisov, Ivan S. Mamaev, Ivan A. Bizyaev, “The Hierarchy of Dynamics of a Rigid Body Rolling without Slipping and Spinning on a Plane and a Sphere”, Regul. Chaotic Dyn., 18:3 (2013), 277–328

Citation in format AMSBIB
\by Alexey V. Borisov, Ivan S. Mamaev, Ivan A. Bizyaev
\paper The Hierarchy of Dynamics of a Rigid Body Rolling without Slipping and Spinning on a Plane and a Sphere
\jour Regul. Chaotic Dyn.
\yr 2013
\vol 18
\issue 3
\pages 277--328

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