Abstract

In this paper a systematic way of representing complex cable-pulley mechanism configurations and a method to analyze and synthesize the motion of these cable-pulley devices is presented. The cable-pulley system model that is being considered is composed of three basic elements which are pulleys, blocks, and cables. A configuration table is used to identify the constraint equations by systematically defining the connections between the cables, pulleys, and blocks. The basic strategy is to use the constraint equations to generate the relationship between each variable and a subset of the variables identified as the inputs. The number of input variables is equal to the total number of variables minus the number of independent constraints. This choosing of the set of inputs is done in conjunction with a row reduction process on the system of constraint equations which identifies the number of inputs and ultimately generates the relationships of each variable to the input(s). Examples are given to illustrate the procedure.

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