Name

Default

Description

Modelica ID

${\stackrel{\^}{e}}_{\mathrm{axis}}$

$⟨0\,0\,1⟩$

Unit vector (w.r.t. local frame) defining the axis of the rotation for the pulley.

e_axis

Locked

false

When checked (true), frame_c (holder) is disabled.  Refer to the Section Fixed or Floating Pulleys above.

locked

Use alternative configuration

false

Choose between two possible solutions for the rope/pulley configuration.  Refer to the section Rope Arrangement above.

useAltConfig

Name

Condition

Default

Units

Description

Modelica ID

R

0.2

$m$

Pitch radius of the pulley

R

m

1

$\mathrm{kg}$

Pulley mass (excluding the holder)

m

Use cylindrical geometry

true

When checked (true) pulley inertia is calculated assuming a uniform thin-disk geometry

useCylindricalGeometry

$\left[\mathrm{I}\right]$

Use cylindrical geometry is false

$\mathrm{kg}{m}^2$

Pulley rotational inertia

Inertia

Name

Default

Units

Description

Modelica ID

$\mathrm{\lambda }$

$0$

$\frac{\mathrm{kg}}{m}$

Linear density

lambda

Turns

$0$

Number of additional full turns

nTurns

Use tension correction

false

When checked (true) additional torque is applied to the pulley to enforce torque = tension x radius even when the rope is not in the plane of the pulley.

useTensionCorrection

Name

Condition

Default

Units

Description

Modelica ID

$m_f$

$\mathrm{Locked}\=\mathrm{false}$

$1$

$\mathrm{kg}$

Frame (holder) mass

mf

${\left[I\right]}_f$

$\mathrm{Locked}\=\mathrm{false}$

$\mathrm{kg}{m}^2$

Frame (holder) rotational inertia

Inertiaf

Add frame offset

false

When checked (true), a rigid body frame is added to the pulley frame to move the connection point away from the center

addFrameOffset

$r_f$

$\mathrm{Add\; frame\; offset}\=\mathrm{true}$

$\left[0\,R\right]$

$m$

Offset in the pulley plane. If the rotational axis is local $X$, the offset is local $\left\{Y\,Z\right\}$. Offset for other choices for the rotation axis follow the right-hand rule.

rf

Name

Condition

Default

Units

Description

Modelica ID

Include slippage

false

Enable slippage calculations. When checked (true) rope can slide on the pulley depending on the tension, contact angle, and the coefficient of friction.

includeSlippage

$\mathrm{\mu }$

Include slippage = true

$0.1$

Rope/Pulley coefficient of friction

mu

$v_0$

Include slippage = true

$0.01$

$\frac{m}{s}$

Smoothing function scale, i.e. $\tanh \left(\frac{v_{\mathrm{rel}}}{v_0}\right)$

v0

Name

Default

Units

Description

Modelica ID

${\mathrm{IC}}_{\mathrm{\theta }\,\mathrm{\omega }}$

Ignore

Indicates whether MapleSim ignores, tries to enforce, or strictly enforces the rotational initial conditions

MechRotTree

${\mathrm{\theta }}_0$

0

$\mathrm{rad}$

Initial rotation of the joint at the start of the simulation, expressed about the ${\stackrel{\^}{e}}_{\mathrm{axis}}$ axis

InitAng

${\mathrm{\omega }}_0$

0

$\frac{\mathrm{rad}}{s}$

Initial angular velocity of the the joint at the start of the simulation, expressed about the ${\stackrel{\^}{e}}_{\mathrm{axis}}$

IntAngVel

Name

Condition

Default

Units

Description

Modelica ID

Show pulley

true

Show pulley visualization

showPulley

Show frame

$\left(\mathrm{Locked}\=\mathrm{false}\right)\wedge \left(\mathrm{Add\; frame\; offset}\=\mathrm{true}\right)$

true

Show pulley frame visualization

showFrame

Show rope

true

Show rope visualization

showRope

Transparent pulley

$\mathrm{Show\; pulley}\=\mathrm{true}$

false

Select this option to make the pulley transparent

transparent_pulley

Transparent frame

$\left(\mathrm{Locked}\=\mathrm{false}\right)\wedge \left(\mathrm{Add\; frame\; offset}\=\mathrm{true}\right)\wedge \left(\mathrm{Show\; frame}\=\mathrm{true}\right)$

false

Select this option to make the frame transparent

transparent_frame

Transparent rope

$\mathrm{Show\; rope}\=\mathrm{true}$

false

Select this option to make the rope transparent

transparent_rope

radius

$\left(\mathrm{Show\; rope}\=\mathrm{true}\right)\vee \left(\mathrm{Show\; pulley}\=\mathrm{true}\right)$

$0.02$

$m$

This radius is only used for visualization

radius

$n_{\mathrm{div}}$

$\mathrm{Show\; rope}\=\mathrm{true}$

$0$

Number of segments used for rope visualization

nDiv

Pulley color

$\mathrm{Show\; pulley}\=\mathrm{true}$

blue

Pulley color

color_pulley

Frame color

$\left(\mathrm{Locked}\=\mathrm{false}\right)\wedge \left(\mathrm{Add\; frame\; offset}\=\mathrm{true}\right)\wedge \left(\mathrm{Show\; frame}\=\mathrm{true}\right)$

orange

Frame color

color_frame

Color based on tension

$\left(\mathrm{Show\; rope}\=\mathrm{true}\right)\wedge \left(n_{\mathrm{div}}\>0\right)$

false

Color based on tension

colorMode

Rope color 1

$\mathrm{Show\; rope}\=\mathrm{true}$

gray

Rope color 1

color

Rope color 2

$\mathrm{Color\; based\; on\; tension}\=\mathrm{true}$

red

Rope color 2

color2

${\mathrm{\tau }}_{\min }$

$\mathrm{Color\; based\; on\; tension}\=\mathrm{true}$

$0$

$N$

Minimum Tension: color 1

minTension

${\mathrm{\tau }}_{\max }$

$\mathrm{Color\; based\; on\; tension}\=\mathrm{true}$

$1000$

$N$

Maximum Tension: color 2

maxTension

Name

Default

Description

Modelica ID

Test mode

false

Use this option to test the pulley configuration.  All rope connections and internal dynamics are switched off when in test mode

testMode