A New Cable-Pulley Algorithm in RFEM

Abstract

The cable-pulley system is widely used for its advantages. In this paper, application of a new algorithm for the calculation of cables on pulleys is presented. Unlike other algorithms, this algorithm enables to take the magnitude of the radius of each pulley into account. This new algorithm is implemented in the RFEM program because of its higher accuracy and efficiency. Comparison of the commonly used algorithm, which ignores pulley radius, and the new algorithm is presented.

Static Balancing of Robot Mechanisms and Manipulation Devices

“…Correctly formulated objective functions and appropriate choice of design (optimization) variables are of great importance for achieving good results [2,8,9]. Numerical optimization will be carried out by Optimization Toolbox for Use with Matlab [3] and optimization program GOOD [4].…”