Analytical Study on the Influence of Friction on Unstable Oscillation of Pantograph

The sliding of contact strips generates a frictional force acting on traveling pantographs in the horizontal direction. A large coefficient of friction can lead to unstable oscillation of the pantograph. To analyze this oscillation, a 2-degree-of-freedom (2-dof) pantograph model considering frictional force has been proposed. However, this model does not...