Simscape Cable System with Non-Rotating Pulley
2 次查看(过去 30 天)
显示 更早的评论
Dear all,
I am working on the development of a multi-body model of a robotic finger on Simscape.
The finger is actuated through a cable system and the path the cable follows is bounded by different non-rotating pulleys. The figure below shows a sketch of the actuating principle.
I wasn't able to find a way on Simscape to model a non-rotating pulley and thus, for now, I am using the standard pulley available in the library. However this represents an ideal solution, while in our application the cable slide over the pulley and I would like to keep into account the friction between the non-rotating pulley and the cable.
Do you know any way to solve this issue?
Thanks in advance,
Kind regards,
Federico
0 个评论
回答(1 个)
Steve Miller
2021-10-4
Hi Federico,
The Pulley block does not permit slip between the cable and the pulley. You can approximate the friction of the cable by adding friction to the joint of the pulley. A custom friction model (measure pulley rotational speed and other quantities, calculate resistance torque) may get you quite close to the friction of a cable sliding over a non-rotating pulley.
--Steve
1 个评论
Federico Tessari
2021-10-5
Hi Steve,
Thanks for the support!
At the end we implemented the solution using a custom friction model and it worked well.
Thanks again,
Federico
另请参阅
类别
在 Help Center 和 File Exchange 中查找有关 Assembly 的更多信息
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!