It is known that chatter vibration of a cleaning blade in laser printers, caused by the friction between the cleaning blade and the photoreceptor, occasionally produces a squeaking noise. This research aims to analyze the dynamics of the cleaning blade, from the viewpoint of mode-coupled vibrations. The dynamics of the cleaning blade are theoretically analyzed using an essential 2DOF link model, with emphasis placed on the contact between the blade and the photoreceptor. The cleaning blade is assumed to always be in contact at one point with a moving floor surface, which is given a displacement σfrom its initial position in the vertical direction. This causes the vertical load N and the frictional force μN to continuously act on the bottom end. By solving the equations governing the motion of the analytical model, five patterns of static equilibrium states are obtained, and the effect of friction on the static states is discussed. It is shown that one of five patterns corresponds to the shape of the cleaning blade, and it is clarified through linear stability analysis that this state becomes dynamically unstable, only when friction is present. This unstable vibration is a bifurcation classified as Hamiltonian-Hopf bifurcation, and confirms the occurence of mode-coupled self-excited vibration with a constant frictional coefficient.