Multi-objective Motion Synthesis of a Rolling Sphere in a Rectilinear Chute-conveyor with Transformed Dry Friction

Abstract

A mathematical model of the dynamics of a rolling rigid sphere in a rectilinear chute-conveyor with transformed dry friction is developed. It includes two types of rolling: with slipping and without slipping. A multi-objective optimization problem of a passively controlled motion is formulated for the model and it has been solved. Salukvadze optimal solution and ranked Pareto optimal solutions are determined.