The motion of a multilink system along a horizontal plane (Q2761251)

The author considers a plane three-link system \(O_1C_1C_2O_2\) moving on a horizontal plane. It is assumed that the masses are concentrated at the points \(O_1\), \(C_1\), \(C_2\) and \(O_2\), and the links are absolutely rigid rods with negligibly small masses. Between the multilink system and the plane exist dry friction forces obeying Coulomb law, and the multilink system is driven by inertial control torques acting at the joints \(C_1\), \(C_2\). The author shows that this system is able to move in different directions and to turn under the action of internal control torques acting perpendicular to the plane of motion.