On the Motion of the Chaplygin Sleigh Along a Horizontal Plane with Friction in the Asymmetric Case

This paper addresses the problem of motion Chaplygin sleigh, a rigid body moving with three points in contact horizontal plane. One them is equipped knife edge along which there no slipping. Special attention given to case where dry friction present at one support without edge. The equations are written, normal reactions calculated, and behavior phase curves neighborhood an equilibrium point, depending on geometric mass characteristics body, investigated by method introducing small parameter.