Abstract
This paper proposes a mathematical model of CNC rotary table driven by worm and spur gears. Proposed mathematical model has 4 degrees of freedom; rotational angle of motor, rotational angle of worm shaft, axial displacement of worm shaft, and rotational angle of table. Backlashes of spur and worm gear are also introduced into the model. Mass and inertias are calculated from designed drawings, and Coulomb's and viscous frictions are identified by matching motor torque curves under sine wave motions. Frequency response of the driving mechanism is also measured to identify axial and rotational stiffness. In order to confirm the effectiveness of proposed model, an experimental set-up consists of the rotary table and personal computer with a DSP board is modeled. Step response, rotational fluctuation, and influence of unbalanced mass are measured and simulated. As the results, it is confirmed that the proposed model can well simulate actual behaviors.
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