Dynamic Analysis of One-Link Robot Arm Driven by Stepping Motor Using Microstep Drive and Harmonic Reduction Gear
Hiroyuki Kojima*, Kengo Motomura*, Yoshifumi Kuwano**, and Keiichi Abe**
*Department of Mechanical System Engineering, Graduate School of Engineering, Gunma University, 1-5-1 Tenjin-cho, Kiryu, Gunma 376-8515, Japan
**Research Laboratory of Japan Servo Corporation Ltd., 3-93 Aioi-cho, Kiryu, Gunma 376-0011, Japan
In this paper, first, taking into consideration stepping motor torque and harmonic reduction gear flexibility, the equations of motion of a one-link robot arm driven by a harmonic reduction gear and a hybrid stepping motor using a microstep drive are derived. The stepping motor is excited by two-phase excitation. Then, the numerical simulations of the one-link robot arm’s dynamic response for four-division microstep and full-step drives have been carried out, and it is confirmed theoretically that the amplitudes of the vibrating torque of the stepping motor for the microstep drive are considerably smaller than that for the full-step drive, and the transient vibrations of the stepping motor in acceleration and deceleration periods can be reduced using microstep drive. Furthermore, the experiments of the trajectory tracking control of the one-link robot arm have been carried out, and the effects of the microstep drive on the transient vibration reduction of the stepping motor are demonstrated.