Synthetic Fiber Rope Fixation Method Using Compact Non-Circular Pulley.

Synthetic fiber ropes are used in many robots because of their light weight and high tensile strength. However, the coefficient of friction of synthetic fiber ropes is low, resulting in the difficulty of rope fixation under high tension. This study focuses on the rope fixation method using a fixed pulley. From Euler's belt theory and the relationship between $D/d$ and tensile strength, the shape of the pulley that is equal to the tensile strength is calculated as a non-circular curve. Based on this curve, we propose the rope fixation method using a non-circular pulley that enables the area of a fixed pulley to be reduced. Fixation by proposed non-circular pulley achieved 74–100% load capacity relative to the original tensile strength.