In this paper, a new phenomenological model is developed to account variable coefficient of friction (COF) in space and time. The COF is no longer considered as a global value valid for the whole contact area. A local value is introduced instead, which evolution is governed by the local history of the contact and the amount of slip. The framework is inspired from elastoplasticity. The evolution of the COF depends on two variables: an isotropic evolution related to cumulated slip and a kinematic component computed from the actual relative position of the bodies.
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