Calculation of Friction Force
The resulting friction force is calculated as follows:
F = - N * step(v, -Vs, -1, Vs, 1) * step(ABS(v), Vs, Cst, Vtr, Cdy)
where:
■N = Normal force
■v = Surface velocity
■Vs = Slip velocity/Static friction transition velocity
■Cst = Static coefficient
■Vtr = Transition velocity/Dynamic friction transition velocity
■Cdy = Dynamic coefficient
The figure shows the resulting friction coefficient versus surface velocity.
Contact Friction
