Problem NO: 21

A stepper motor serves as the drive unit for the linear joint of an industrial robot. The joint must\nhave an accuracy of 0.25 mm. The motor is attache

A stepper motor serves as the drive unit for the linear joint of an industrial robot. The joint must

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have an accuracy of 0.25 mm. The motor is attached to a leadscrew through a 2:1 gear reduction (2

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turns of the motor for 1 turn of the leadscrew). The pitch of the leadscrew is 5.0 mm. The

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mechanical errors in the system (due to backlash of the leadscrew and the gear reducer) can be

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represented by a normal distribution with standard deviation = ±0.05 mm. Specify the number of

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step angles that the motor must have in order to meet the accuracy requirement.

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