This paper presents a finite element model of a flexible cable that has been constructed to accurately model dynamic wrap angles around a static pulley. The study considers a system with a rope running over a pulley and a suspended load on one end moving in a circular arc. The model utilizes the Absolute Nodal Coordinate Formulation to define the generalized coordinates, chosen for its accurate definitions of large non-linear cable deformations. The interaction of the cable with the surface of a pulley is modeled using a contact penalty formulation. An experimental study is performed to analyze the performance of the model outputs: cable tension and wrap angle. During the testing the wrap angle had peak-to-peak oscillations of up to 122 degrees. The numerical simulation shows reasonable agreement with the experimental measurements.

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4th International Conference of Control, Dynamic Systems, and Robotics, CDSR 2017
Department of Mechanical and Aerospace Engineering

Westin, C. (Cassidy), & Irani, R. (2017). Cable-pulley interaction with dynamic wrap angle using the absolute nodal coordinate formulation. In International Conference of Control, Dynamic Systems, and Robotics. doi:10.11159/cdsr17.133