ActuatedPulley

Actuated Pulley (without mass and inertia; geometric constraint)

Library

Mechanics/Translational/Components

Description

Actuated pulley without mass and inertia. The translational flange positions s = flange_a.s (right), s1 = flange_b1.s (top left) and s2 = flange_b2.s are constrained by the equation:

    (L + s) = (s1 + s2)/2 .

The rotational flange axle (bottom) can be connected with a component of the Mechanics/Rotational/Components palette or a electric/mechanic transformer (see Electrical/Analog/Basic/EMF).

The relation between rotational torque axle.tau and translational forces is:

    axle.tau / r = flange_b1.f - flange_b2.f .

Where r is the effective radius of the pulley.

Parameters

    ActuatedPulley_0

  • r [m] : Radius of pulley (>0) (r): Scalar.
  • L [m] : Geometric constraint L=(s1+s2)/2-s (L): Scalar.

Ports

  • Port 1 at left position: implicit input fixedport numbered 1.
  • Port 1 at right position: implicit output fixedport numbered 1.
  • Port 2 at right position: implicit output fixedport numbered 2.
  • Port 1 at bottom position: implicit output fixedport numbered 3.

See Also