Based on phase-plane orbit analysis, the mathematical model of piecewise-smooth systems of multi-degree-of-freedom under the mode coordinate is established. Approximate analytical solution under the physical coordinate of multi-degree-of-freedom self-excited vibration induced by dry friction of piecewise-smooth nonlinear systems is derived by means of average method, the results of which agree with those of the numerical solution. An effective and reliable analytical method investigating piecewise-smooth nonlinear systems of multi-degree-of-freedom has been given. Furthermore, this paper qualitatively analyses the curves about stationary amplitude versus rubbing velocity of hands and versus natural frequency of hands, and about angular frequency versus rubbing velocity of hands. The results provide a theoretical basis for identifying parameters of the system and the analysis of steady region.
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