Abstract—

The problem of the dynamics of a rigid body in the form of a parallelepiped on a plane in the presence of two-dimensional dry friction (generalized model of dry friction Coulomb-Contensou [1]) is considered. Since in this model of friction there are no discontinuities of the first kind in velocity, the problem is mathematically simpler than problems with one-dimensional (according to Coulomb) dry friction. In this example, increasing the dimensions leads to the regularization of the problem.

中文翻译：

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具有干摩擦的均质平行六面体的平面动力学

摘要-

考虑了在存在二维干摩擦的情况下，在平面上呈平行六面体形式的刚体的动力学问题（干摩擦库仑-康滕苏的广义模型[1]）。由于在这种摩擦模型中没有第一类速度不连续性，因此该问题在数学上比一维（根据库仑）干摩擦问题更简单。在此示例中，增加尺寸会导致问题正则化。