Dynamic Characteristic of Automatic Positioning Machine

Dynamic characteristics of electro-servo feedback controlled automatic conveying and positioning machines affected by mechanical and electrical nonlinearities are studied from a mechanical point of view. Such nonlinearlities as the backlash and coulomb friction in a reduction gear train and the saturation of a servo amplifier are considered, and the stability of mechanism and the positioning error affected by them are determined theoretically and experimentally. A design guide of an exact positioning machine is presented on the basis of the above results.