This paper studied a dry-friction Duffing vibrator, and discussed the transitions and coexistences between chaos and periodic orbits, as well as different periodic orbits for different system parameters. As a Filippov system, special sticking phenomena may occur. The transition from crossing orbit to stick-slip orbit can be achieved not only by crossingsliding bifurcation and switchingsliding bifurcation, but also by two near crossingsliding bifurcation and addingsliding bifurcation. The transition from stickslip orbit to noncrossing orbit must be achieved by grazingsliding bifurcation.