The paper presents method of the friction coefficient characteristics determination for kinematic pairs in the self-excited vibration conditions occurring in the Froude pendulum. Friction coefficients were calculated by measuring the vibration amplitude of the pendulum. Measurement of this amplitude for kinetic friction coefficient is carried out in the conditions of sliding friction and a static one — when the conditions of stickslip phenomena exist. The proposed method was verified using the LuGre friction model.

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