21609 マイクロステップ駆動技術を用いたステッピングモータとハーモニック減速機で駆動される単関節ロボットアームの動的解析(振動解析とその応用II,OS.2 振動解析とその応用)

概要

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In this paper, first, the dynamic characteristics of the one-link robot arm driven with a stepping motor are investigated theoretically. The stepping motor was driven by the four-division micro step technique. Then, it is confirmed theoretically that the amplitudes of the vibrating torque of the stepping motor in case of the micro step drive are considerably smaller than the ones in case of the full step drive, and the transient vibrations of the stepping motor in the acceleration and deceleration periods can be reduced by using the micro step drive. Furthermore, the experimental results are demonstrated.
一般社団法人日本機械学会の論文
2007-03-15