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In: Mechanical Engineering

5) i) A two axes of an x-y positioning table are each driven by a stepping...

5) i) A two axes of an x-y positioning table are each driven by a stepping motor connected to a lead screw with a 10:1 gear reduction. The number of step angles on each stepping motor is 25. Each lead screw has a pitch = 7.5 mm and provides an axis range = 300 mm. There are 16 bits in each binary register used by the controller to store position data for two axes. (a) What is the control resolution of each axis? (b) What are the required rotational speeds and corresponding pulse train frequencies of each stepping motor in order to drive the table at 600 mm/min in a straight line from point (25,25) to point (100,150)?      (10)

ii) The designer of a polar configuration robot is considering a portion of the manipulator consisting of a rotational joint connected to its output link. The output link is 25 in long and the rotational joint has a range of 75 degrees. The accuracy of the joint-link combination, expressed as a linear measure at the end of the link which results from rotating the joint, is specified as 0.030 in. The mechanical inaccuracies of the joint result in a repeatability error= +-0.03 degrees of rotation. It is assumed that the link is perfectly rigid, so there is no additional error due to deflection. (a) Show that the specified accuracy can be achieved, given the repeatability error. (b) Determine the minimum number of bits required in the binary register of the robot’s control memory to achieve the specified accuracy.    (10)

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samet mamat answered 2 years ago
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