%% non circular pully or Cam % Need to program the cam/spiral using the function R(th) below alpha=0:pi/24:pi; % test over this range of angles K=12/.7; % stiffness of a giant band (N/m) armlen=0.12; % 12 cm clear Torque Force L for jj=1:length(alpha) ang=alpha(jj); l2=camlength((pi-ang):pi/72:pi); f=K*l2; Force(jj)=f; Torque(jj)=R(pi-ang)*f; end figure(1);clf fr=.05; % torque = f r sin (alpha). fr=0.05 implies .5N at 10cm, or 1N at 5cm plot(alpha,Torque,alpha,fr*sin(alpha)); legend('torque from cam','torque to hold fr') figure(2) for showang=20:10:120 pltarm(showang,armlen); pause(.2) end %% Cam definition % Design your cam here. % Program a spiral shape or use interp1 to specify what the radius should % be at angles 0