Abstract
For a rigid body or a multibody system sliding on a rough surface, a range of uncertainty or non-uniqueness of solution could be found, which is termed: Painleve paradox. Painleve paradox is the reason of a wide range of undesired bouncing motions which are observed during sliding. As Painleve paradox is a practical problem in case of multibody systems, this research work has investigated that paradox. In this research work, the condition leading to Painleve paradox has been determined for a general multibody system. Investigating the motion of a prismatic–revolute (P–R), sliding robot has been conducted. In order to solve the paradox and find the motion, a tangential impact is assumed at the contact point. The impact model has been developed and the paradox, consequently, has been solved. Consequently, the kinematics of the motion has been specified.
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