We outline a phenomenological model to assess friction at the interface between two bodies in mutual contact. Although the approach is general, the application inspiring the approach is the discrete element method. The kinematics of the friction process is expressed in terms of the relative 3D motion of the contact point on the two surfaces in mutual contact. The model produces expressions for three friction loads: slide force, roll torque, and spin torque. The cornerstone of the methodology is the process of tracking the evolution/path of the contact point on the surface of the two bodies in mutual contact. The salient attribute of the model lies with its ability to simultaneously compute, in a 3D setup, the slide, roll, and spin friction loads for smooth bodies of arbitrary geometry while accounting for both static and kinematic friction coefficients.

我们概述了一种现象学模型，以评估相互接触的两个物体之间的界面处的摩擦。尽管该方法是通用的，但启发该方法的应用程序是离散元素方法。摩擦过程的运动学是根据相互接触的两个表面上的接触点的相对3D运动表示的。该模型产生三种摩擦载荷的表达式：滑动力，侧倾扭矩和旋转扭矩。该方法的基础是跟踪相互接触的两个物体表面上的接触点的演变/路径的过程。模型的显着属性在于它能够在3D设置中同时计算幻灯片，滚动，