The penalty-contact model is used in Refs. [7,8,10,11] to compute the normal contact forces between the belt and the pulley. It
is implied in Ref. [11], that due to the mainly resting contact between the belt and the pulley (except when the belt enters the
pulley), the value of the normal contact forces is almost independent of the value of the stiffness coefficient. However, it does have
an influence on the amount of deformation between the belt and the pulley. It is shown in Ref. [6] that the radial deformation of the
belt in the pulley grooves influences the angular-speed loss between the belt and the pulley. Thus, an accurate identification of the
contact stiffness is necessary in order to precisely predict the angular-speed loss between the driver and the driven pulley.
In general, the penal normal contact force includes both elastic and dissipative components. The elastic component Fel is a function
of the penetration, which in general represents the deformation of the bodies in contact. The dissipative component Fdiss is usually a
function of the relative normal contact velocity. The penal force in the normal contact direction can thus be written as:
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