Using the Dirac approach to simulate the rolling of a wheeled vehicle
Anastassia Vladimirovna Vlakhova · Moscow University Mechanics Bulletin · 2014
The rolling of a wheeled vehicle is considered in the case when the turning angles of the front wheels about the vertical axis are small. The small relative slip is taken into account in the adopted model of contact between the wheels and the road surface. It is shown that, when the stiffness of the wheels tends to infinity, the system of equations of motion may become nonclassical and its form is specified by the no-slip conditions along the longitudinal direction of motion and by the primary Dirac constraints arising because of the degeneracy of the Lagrangian.