Curve sliding joint definition

@EDGE_NAME {EdgeName}
@COMMENTS {CommentText}


  1. A curve sliding joint is a holonomic constraint element that allows the relative sliding of a body along a curve, as depicted in fig. 1. The curve sliding joint is associated with an edge, EdgeName. Vertices Vertex0Name and Vertex1Name are associated with this edge. Vertex Vertex0Name must have an associated rigid body mass and a curve must be associated with this rigid body mass. Find more information about: the representation of multibody systems, and the formulation of constraints in multibody systems.
  2. Figure 1. Configuration of a contact sliding joint.
  3. Variable η parameterizes the curve. The initial value of this parameter, η0, must be specified. This value corresponds to the initial location of the contact point between the curve of body k and body l.
  4. The relative motion at the curve sliding joint corresponds to the relative motion of body l along the curve associated with body k. Variable η defines the instantaneous location of the contact point of body body l along the curve. The curve sliding joint motion, CsuName, must be defined.
  5. Optionally, rotational constraints associated with with body l can be specified. Figure 1 shows the curve sliding joint configuration and its local triad at a position η defined by the tangent t, normal n and binormal b vectors. Each of the flags di can take values of 0 or 1. A value di = 0 implies that the corresponding relative rotation of body l with respect to the local triad is unconstrained, whereas a value di = 1 implies that the corresponding relative rotation is set to zero. Flags d1, d2, and d3 correspond to relative rotations about the tangent t, normal n, and binormal b vectors, respectively.