## 1 Introduction  
In the course of the permanently increasing requirements for energy efficiency and careful use of resources, CVJs offer a great potential for optimisation through material savings and efficiency improvement, since they are used in many technical applications for the uniform transmission of rotary motion and torque. However, the current design and optimisation of these joints is largely founded on many years of experience based on analytical design methods for the statically undeflected load case of the joint. Nevertheless, to take dynamic influences on the joint behaviour into account during the development process, complex and cost-intensive test bench investigations are necessary. For this reason, numerical analysis of the CVJ using multi-body simulation is a suitable method to consider dynamic effects and to characterise the joint behaviour under different influencing parameters at an early stage of development. To analyse the forces acting in a double offset joint (DOJ) and the resulting joint kinematics, [PERSON] [1] used the MBS program ADAMS in conjunction with Hertzian contact theory. The contacts are determined internally in ADAMS. However, in his analysis, he neglected the friction between the components at first. [PERSON] et al. [2] then considered these frictional forces for fixed and plunging typed joints, which are incorporated into the analytical description of the joint in order to finally solve it numerically via an ordinary differential equation (ODE) solver without a commercial software. They also compared the calculation results with experimental data at test bench for the secondary torque in DOJ [3]. [PERSON] et al. [4] also referred to these results and investigated the influence of friction on the secondary torque occurring in the joint as well. Similar to [PERSON] et al., they considered frictional forces in proportion to the contact normal forces with the help of [PERSON]'s law. They identified possible noise, vibration and harshness (NVH) phenomena by implementing user-defined routines in ADAMS and performing their own measurements. For the analysis of the NVH-effective forces in a front sideshaft consisting of a ball CVJ and a tripod joint, [PERSON] et al. [5] used a similar approach to [PERSON] et al., but implemented it in DAFUL software. The contact determination in the ball joint is analytical, but they formulate their model with kinematic constraints, so that the use of a differential algebraic equation (DAE) solver is necessary, which means a higher numerical effort by considering algebraic constraints [6]. [PERSON] and [PERSON] [7] chose a fundamentally different approach for the numerical observation of a pilot lever joint, in which they defined sets of curves in the respective tracks, onto which the balls are forced by corresponding force laws. In this way, they presupposed the position of the balls a priori, which is why they cannot be adjusted freely on the basis of the acting forces. In this case, there is a chance of missing out on phenomena that occur in reality. In addition, [PERSON] [8] and [PERSON] et al. [9] presented analytical approaches for taking manufacturing deviations in joint analysis into account. [PERSON] [10] used the MBS program SIMPACK for his analysis of plunging joint with straight tracks, in which a general contact determination between balls and tracks is carried out by applying the polygonal contact model of [PERSON] [11]. Although this approach allows the contact between arbitrary geometries to be checked, it is more computationally intensive due to the general determination of contact, which is disadvantageous for extensive parameter studies in the early development stage. Furthermore, with the mesh size there is an additional numerical parameter, which influences the calculation results and must therefore first be verified. The listed works deal with different joint geometries in contrast to the plunging joint considered in this paper.