Pulleys with Right Angle Guides
A method of transmitting motion from a shaft at right angles to another, by means of guide-pulleys. There are two of these pulleys, side by side, one for each leaf of the belt.
Only the input is driven; every other part of this model moves by physics (MuJoCo), and its ratios are measured. Run it live, change its parameters, or switch the friction off to see the output stop.
- Modelled as
- round cord (friction; 145-link elastic chain, 20 N) laid on the common tangents in space: driver on a y shaft, two loose guide pulleys side by side (one per leaf), drum on an x shaft at right angles
- Measured
- ω_drum/ω_drive −1.755 (geometry −1.755), front guide +2.135, back guide −2.128 (geometry ±2.114; the guides turn opposite ways); steady over a 20 s soak; cord within 0.6 cm of its centre line, pen ≤1.8 mm; μ≈0 control 0.000
- Notes
- Only the driving pulley is motor-driven. Leaves reach the driver's single groove at a ~7.5° fleet angle; at ~9° the cord walks over the flange, so the driver stands 40 cm off.
Film (MP4) · GIF · Still (PNG) · Spec (YAML) · Model (MJCF)
