Friction phenomena exist in almost every mechanical device. Due to its complicated nature and influence on the system performance, extensive dynamic simulations are often required in the early system design stage. In this work, a novel approach for eliminating the numerical discontinuity in the classical Coulomb law and its extension is developed. Specifically, the method improves the computation process instead of modifying the Coulomb friction model. The estimated error of this procedure is derived under a simple and idealized model with an externally applied sinusoidal force. Two application examples of a single-body system are used to verify the proposed method, namely, 1-DOF mass-spring system with a moving belt and static ground. Results indicate that the proposed approach reveals the characteristics of the classical Coulomb friction law and its development and eliminates oscillations in the simulated friction force. Furthermore, a 3-DOF multi-body system is simulated to investigate the difference between the LuGre model and the proposed approach.

中文翻译：

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修改摩擦以便直接执行摩擦定律

几乎每个机械设备都存在摩擦现象。由于其复杂的性质和对系统性能的影响，在系统的早期设计阶段常常需要进行广泛的动态仿真。在这项工作中，开发了一种新颖的方法来消除经典库仑定律中的数值不连续性及其扩展。具体而言，该方法改进了计算过程，而不是修改库仑摩擦模型。该过程的估计误差是在简单理想化的模型下通过外部施加正弦力得出的。通过一个单体系统的两个应用实例来验证所提出的方法，即具有运动皮带和静态地面的一自由度质量弹簧系统。结果表明，该方法揭示了经典库仑摩擦定律的特点及其发展，并消除了模拟摩擦力的振荡。此外，还对3-DOF多体系统进行了仿真，以研究LuGre模型与所提出方法之间的差异。