24.7 ASSIGNMENT PROBLEMS
1. A stepper motor is to be used to actuate one joint of a robot arm in a light duty pick and place application. The step angle of the motor is 10 degrees. For each pulse received from the pulse train source the motor rotates through a distance of one step angle.
b) Relate this value to the definitions of control resolution, spatial resolution, and accuracy, as discussed in class.
c) For the stepper motor, a pulse train is to be generated by a motion controller. How many pulses are required to rotate the motor through three complete revolutions? If it is desired to rotate the motor at a speed of 25 rev/min, what pulse rate must be generated by the robot controller?
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