Forced nonlinear oscillator with nonsymmetric dry friction

In this paper we discuss an approximately steady motion of an oscillator as a single whole with a constant “on the average” velocity. For that purpose we analyze the position and stability of some special points of the phase portrait. In the presence of internal excitation and nonsymmetric Coulomb dry friction, a motion of the oscillator with a constant “on the average” velocity is possible. The algebraic equation for this constant velocity is found. For different parameters of the model there exist at most three regimes of motion with a constant velocity, but only one or two of them are stable. The theoretical results obtained can be used for the design of worm-like moving robots.