Integrability of nonholonomically coupled oscillators
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continuously variable transmissiongeometric integrationKAM theoryLagrange-D'Alembertnonholonomic mechanicsreversible integrability
Nonholonomic dynamical systems (37J60) Discretization methods and integrators (symplectic, variational, geometric, etc.) for dynamical systems (37M15) Numerical problems in dynamical systems (65P99) Nonholonomic systems related to the dynamics of a system of particles (70F25) Nearly integrable Hamiltonian systems, KAM theory (70H08)
Abstract: We study a family of nonholonomic mechanical systems. These systems consist of harmonic oscillators coupled through nonholonomic constraints. In particular, the family includes the so called contact oscillator, which has been used as a test problem for numerical methods for nonholonomic mechanics. Furthermore, the systems under study constitute simple models for continuously variable transmission gearboxes. The main result is that each system in the family is integrable reversible with respect to the canonical reversibility map on the cotangent bundle. This result may explain previous numerical observations, that some discretisations of the contact oscillator have favourable structure preserving properties.
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