A modular software architecture for simulating mechanical systems involving Coulomb friction integrable by the Runge-Kutta method

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.psilas 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.