A Modular Software Architecture for Simulating Mechanical Systems Involving Coulomb Friction Integrable by the Runge-Kutta Method

摘要

This paper presents a modular architecture of simulation software that is capable of properly capturing Coulomb friction in mechanical systems. The presented architecture is built upon Kikuuwe et al.'s discrete-time friction model, which is based on the implicit Euler method. The paper reformulates the model into a form that can be integrable through the standard fourth order Runge-Kutta method. Some examples based on the presented architecture are presented.