In this paper, a nonsmooth model of towed wheels is analysed; this mechanism can be a part of different kind of vehicles. We focus on the transitions between slipping and rolling in the presence of dry friction. The model leads to a three-dimensional dynamical system with a codimension-2 discontinuity. The systems can be analysed by means of the tools of extended Filippov systems. The essence of the calculation is to find the so-called limit directions, which show the possible directions of slipping-rolling transitions and their properties. By this method, four different scenarios are found. The results are compared to those from the creep models.

中文翻译：

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关于牵引轮的非光滑动力学

本文对牵引轮的非光滑模型进行了分析；这种机制可以是不同类型车辆的一部分。我们专注于在干摩擦的情况下滑动和滚动之间的过渡。该模型导致具有 codimension-2 不连续性的三维动力系统。这些系统可以通过扩展 Filippov 系统的工具进行分析。计算的本质是找到所谓的极限方向，它显示了滑移过渡的可能方向及其特性。通过这种方法，可以找到四种不同的场景。将结果与蠕变模型的结果进行比较。