Abstract
A numerical model of a wheel consists of a series of particles evenly spaced around the rim of the wheel, each connected with both neighboring particles by a damped spring. In the simulation, the wheel rolls along the ground, allowing determination of position, velocity, deformation, and angular velocity of the wheel as the system evolves. The results of the simulation are consistent with what is observed experimentally with rolling friction: the rolling resistance goes up as pressure goes down, and it goes up as speed goes up. The simulation indicates that the majority of the kinetic energy lost from the wheel is dissipated in deformations of the wheel, i.e., in the dampers between the particles. Kinetic friction is negligible. Both static friction and the contact normal force vary over the region of contact between wheel and ground, with the effective position of the normal force acting forward of the center of the wheel. Static friction is the force responsible for the change in linear momentum of the wheel.
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