The inclusion of Coulomb friction in mechanisms programs with particular reference to DRAM au programme DRAM

Abstract This paper discusses some properties of friction and critically assesses several possible methods of incorporating these into automatic mechanism programs. The method selected, its compromises and its incorporation into a particular computer program DRAM (Dynamic Response of Articulated Machinery) are described in detail. This method is shown to be a successful compromise between theoretical studies of friction and the avoidance of large computational overheads in their application.