On the modeling of prismatic joints in flexible multi-body systems Original Research Article

This paper focuses on the modeling of prismatic joints in flexible multi-body systems. In the classical formulation of prismatic joints for rigid bodies, kinematic constraints are enforced between the kinematic variables of the two bodies. These constraints express the conditions for relative translation of the two bodies along a body fixed axis, and imply the relative sliding of the two bodies which remain in constant contact with each other. However, these kinematic constraints no longer imply relative sliding with contact when one of the bodies is flexible. To remedy this situation, a sliding joint is proposed that involves kinematic constraints at the instantaneous point of contact between the sliding bodies. Various numerical examples are presented that demonstrate the dramatically different behavior of prismatic and sliding joints in the presence of elastic bodies.