MODES OF CONTACT AND UNIQUENESS OF SOLUTIONS FOR SYSTEMS WITH FRICTION-AFFECTED SLIDERS

The kinetic equations of planar multi-body systems with friction-affected sliding joints are reformulated for the computation of closed-form solutions for the kinetic parameters. The state of such systems is characterized not only by the position parameters and velocities, but in addition, the modes of contact in the sliding joints must be specified. Then the cases with one or several sets of solutions, obtained for the same position parameters, velocities, active forces and friction parameters, can be related to positions of the system with different modes of contact between sliders and guiding surfaces. They are physical unequivocal states and can be interpreted as unique solutions for the kinetic problem with specified configuration of the system. If no solutions exist, then the friction parameters considered are too large and exceed limiting values, for which friction locking occurs.