Transmission Error Characteristics of a Stepping Motor Drive Timing Belt System for a Fixed and an Automatic Tensioner

The transmission error characteristics of a stepping motor drive timing belt system are investigated theoretically and experimentally for the fixed and the automatic tensioner. It is found that the amplitude of the transmission error θ_e due to the pulley eccentricity and θ_m due to the stepping motor torque variation decrease as the belt tension increases and the applied torque load increases. Also, θ_e can be reduced by using the automatic tensioner, while θ_m shows almost same magnitude for both tensioners. The theoretical results based on the bondgraph model are in good accordance with the experimental results.