Modelling a cable system

[Sachitha77]

Hello,
I'm currently working on a string-actuated robot arm. The picture of model attach in below.



While modelling it, I encountered some problems. Here they are,

• How does the cable wrap around the pulley?
• How do the initial angles of the links change?
• How does the drum add to the system instead of the slider I used?

What are the possible solutions for these problems?

Thanks,
Sachitha