In traditional methods, the details of relative motion between two bodies is necessary to locate contact points. When they are applied to analyze the contact in a joint, the bodies linked by the joint must be taken as free, no matter how small the clearance of the joint is. As a result, such drawback makes numerical solution inefficient and inaccurate in some cases. It is found that, the system of contact forces in a joint and the system of constraint reaction forces of the joint are equivalent, and the motion of possible contact points in joint relate each other inherently. Based on these facts, this paper present a method for frictional contact analysis of spatial prismatic joints, by which the positions and forces of contacts can be obtained while the kinematic constraints of prismatic joints are kept. Numerical examples prove the validity of the method.%传统的接触分析方法通过物体间的相对运动确定接触位置.将这种方法用于多体系统中铰内的接触分析时,无论铰内间隙是否十分微小都必须解除铰的运动学约束,从而导致求解效率和求解精度方面的诸多弊端.基于铰约束反力与铰内接触力之间的力系等效关系,以及铰内可能接触点运动之间内在的运动学关系,以矩形截面的棱柱铰为例,提出了一种对空间棱柱铰进行摩擦接触分析的方法,可在不解除铰的运动学约束的前提下得到铰内接触模式和接触力.数值算例验证了方法的可行性.
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