Pulleys with Vibrating Lever
By giving a vibratory motion to the lever secured to the semi-circular segment, the belt attached to the said segment imparts a reciprocating rotary motion to the two pulleys below.
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
- open cord band riveted to the rocking segment at both ends (friction on the pulleys; 110 links, 15 N), crossing leaves rub past each other
- Measured
- lever rocked ±0.45 rad at 0.5 Hz → each pulley follows with slope −2.150 (geometry −2.114; cord sits ~1 mm into the rims), r² 1.000, both in step; leaves touch at the cross 100% of samples, ≤0.38 mm; pen ≤1.0 mm; μ≈0 control → slope −0.003
- Notes
- Only the lever is driven (the hand: a velocity target rocking it to and fro).
Film (MP4) · GIF · Still (PNG) · Spec (YAML) · Model (MJCF)
