Conditions for the feasibility of multiple rolling for mechanical systems with multiple contact points

TL;DR

This paper develops a theoretical framework to determine necessary and sufficient conditions for multiple pure rolling constraints in mechanical systems with multiple contact points, with detailed applications to specific systems.

Contribution

It introduces a generalized procedure for analyzing the feasibility of simultaneous pure rolling constraints in complex mechanical systems.

Findings

Necessary conditions for multiple pure rolling constraints identified

Sufficiency of conditions analyzed and generalized

Application to real mechanical systems demonstrated

Abstract

We illustrate a theoretical procedure determining necessary conditions for which simultaneous pure rolling kinetic constraints acting on a mechanical system can be fulfilled. We also analyze the sufficiency of these conditions by generalizing to this case a well known and usually accepted assumption on the behavior of pure rolling constraint. We present in detail the application of the procedure to some significative mechanical systems.