A linear friction Figure, Equation (15), was used to reflect Coulomb, Stribeck, and viscous friction in the CAE model. The fitted parameters from Figure (15) for the measured friction curves of each speed with 5 N normal force (Figure 9) are listed in Table 8. Despite the coefficient of determination being limited to 0.9, it was used to reflect the evaluation results on speed in CAE analysis for practical reasons.where μd is the dynamic friction of coefficient; μs is the static friction of coefficient; d is the decay coefficient; Cv is the viscous friction coefficient; ν is the drive velocity.