I am working on the development of a multi-body model of a robotic finger on Simscape.
The finger is actuated through a cable system and the path the cable follows is bounded by different non-rotating pulleys. The figure below shows a sketch of the actuating principle.
I wasn't able to find a way on Simscape to model a non-rotating pulley and thus, for now, I am using the standard pulley available in the library. However this represents an ideal solution, while in our application the cable slide over the pulley and I would like to keep into account the friction between the non-rotating pulley and the cable.
Do you know any way to solve this issue?
Thanks in advance,