A new multi-terminal pulley model for use in graph theoretic modelling

In this paper a new generalised multi-terminal pulley component model is introduced into the graph theoretic modelling (GTM) formulation. The application of graph theory to formulate the dynamics of multi-body systems has yielded a powerful tool for automating the generation of motion equations for mechanical systems. In this paper, the GTM procedure is extended to include mechanisms employing drive belt-pulley assembly transmissions. The multi-terminal pulley component graphs and constitutive equations are presented and its application to two practical examples using a hybrid branch-chord formulation is demonstrated.