1.What is a linear stepper motor?
A linear stepper motor, also known as a linear stepper actuator, is a device that converts rotational motion from a stepper motor into linear motion. It's a type of electric motor designed to move in a straight line, unlike traditional rotary stepper motors which rotate. These motors are particularly useful in applications requiring precise and controlled linear movement, such as robotics, automation, and medical devices. 

2.Working principle os linear stepper motor
Linear stepper motors convert electrical pulses into precise linear motion using electromagnetism. They achieve this by using a forcer (moving part) with electromagnets and a platen (stationary part) with precisely spaced teeth or magnetic poles. When electrical pulses are applied to the forcer's coils, magnetic fields are created, causing the forcer to move in discrete steps along the platen. 

3.Main structure of linear stepper motor
1.Stator:The stator is a crucial component of a linear stepper motor. It serves as the stationary part of the motor and contains electromagnetic coils responsible for generating the magnetic fields necessary for the motor's operation. The stator is typically composed of several individual coils arranged in a linear configuration. These coils are wound with copper wire and are designed to produce magnetic fields when an electrical current passes through them.
2.Rotor:The rotor is the moving part of a linear stepper motor and plays a pivotal role in generating linear motion. It interacts with the stator's magnetic fields to produce movement. The rotor is typically equipped with a permanent magnet or magnetic teeth, which align with the changing magnetic fields generated by the stator coils.
3.Lead Screw or Ball Screw:To convert the rotational motion of the rotor into linear motion, linear stepper motors incorporate a lead screw or ball screw mechanism. These mechanisms enable the linear translation of the rotor's movement along the screw axis. The lead screw consists of a threaded shaft and a nut, while the ball screw incorporates recirculating ball bearings between the screw and nut.
4.Bearings:Bearings are crucial components in a linear stepper motor as they provide support and smooth movement. Linear stepper motors typically utilize linear bearings, such as linear ball bearings or linear roller bearings. 
5.Control and Drive Electronics:Linear stepper motors require control and drive electronics to regulate their operation. The control system sends electrical pulses to the stator coils in a specific sequence and timing to achieve the desired linear motion. The drive electronics amplify and regulate the electrical signals, ensuring precise control over the motor's movement. 
6.Power Supply:A power supply is an essential component of a linear stepper motor system. It provides the necessary electrical power to drive the motor and enable its operation. 

4.Tips for Installing linear stepper motors
1. Determine the Mounting Orientation:Before installing the linear stepper motor, it is essential to determine the mounting orientation. Depending on your application requirements, you may choose between vertical and horizontal mounting. This decision can affect the motor's performance, especially in terms of load capacity and overall stability. 
2. Ensure Proper Alignment:Aligning the linear stepper motor accurately is essential to prevent any misalignment issues that can lead to reduced performance or premature wear. Before installation, ensure that the motor shaft and driven load are correctly aligned. Use appropriate tools such as dial indicators to check for any misalignment, and make the necessary adjustments to achieve the desired alignment.
3. Establish a Secure Mounting Platform:To ensure the stability and longevity of the linear stepper motor, it is crucial to establish a secure mounting platform. A stable and sturdy base helps to minimize vibrations and any potential movement that could interfere with the motor's operation. Depending on your application, choose a suitable mounting platform such as a rigid table, frame, or bracket. 
4. Verify Electrical Connections:Before installing the linear stepper motor, always double-check the electrical connections. Ensure that the power supply, motor driver, and motor wiring are properly connected according to the manufacturer's specifications. Inadequate or incorrect electrical connections can result in motor malfunctions or damage. It is also essential to verify that the voltage and current ratings of the motor match the requirements of your application. Failure to do so may result in performance degradation or permanent damage to the motor.
5. Take Precautions for Heat Dissipation:Linear stepper motors generate heat during operation, especially when subjected to high current or prolonged use. To prevent overheating, it is crucial to consider proper heat dissipation measures during the installation process. Ensure that the motor has adequate airflow around it, and if necessary, install additional cooling mechanisms such as fans or heat sinks. Adequate heat dissipation helps to maintain the motor's temperature within the acceptable range, improving its overall performance and reliability.

1. Basic definition of linear guide rail
Linear guide rail is a device designed to support and guide moving parts so that they can perform reciprocating linear motion in a specific direction. Compared with linear bearings, linear guide rails have higher rated load capacity and motion accuracy in moving components of the same volume, while also being able to withstand certain torque loads.

2. Main structure of linear guide rail
1. Slide rails and sliders: Slide rails are the main supporting components of linear guide rails, while sliders are responsible for sliding on the slide rails to achieve linear motion. The design and material selection of slide rails and sliders directly affect the load-bearing capacity and motion accuracy of the guide rails.
‌2. Steel balls and steel ball retainers: Steel balls roll between sliders and slide rails to reduce friction and achieve low-friction linear motion. Steel ball retainers are used to fix steel balls to prevent them from falling off.
‌3. Lubrication system: Including self-lubricating components, oil nozzles, oil pipe joints, etc., to ensure the smooth operation of the guide rails and extend their service life.
4. Dustproof system: such as SUS304 quick-install dustproof steel belt, oil scraper, bottom sealing dustproof sheet, etc., are used to prevent dust and impurities from entering the guide rail and affecting its performance.

3. Main advantages of linear guide rail
1. High precision and good reproducibility: linear guide rail adopts smooth rolling motion, small friction coefficient, small difference between static friction and dynamic friction, no idling and slipping even in micro-feeding, and can achieve μm-level positioning accuracy with good reproducibility.
2. Low friction resistance, long-term accuracy: The rolling friction resistance of linear guide rail can be reduced to 1/20~1/40 of the friction resistance of sliding guide rail, the lubrication structure is simple and the effect is excellent, the wear of friction contact surface is the lowest, so the walking accuracy can be maintained for a long time.
3. High load bearing capacity: linear guide rail is optimized in design, can bear radial, reverse radial and lateral loads at the same time, and can improve its rigidity and load capacity by applying preload and increasing the number of sliders.
‌4. Suitable for high-speed applications‌: Due to the low friction resistance, the driving horsepower requirement for the equipment is low, and the energy saving effect is significant, especially suitable for mechanical equipment that needs to run at high speed‌.
‌5. Easy to assemble and interchangeable‌: The linear guide rail is easy to install. It only needs to be assembled on the milled or ground mounting surface to reproduce the accuracy, and the slider is interchangeable. It can be arbitrarily installed on the same model of slide rails to maintain the same smoothness and accuracy, which is convenient for assembly and maintenance‌.

4. Precautions for the use of linear guide rails
‌1. Rust prevention‌: During installation and use, ensure that your hands are clean and avoid direct contact with sweat or water stains on the guide rails. In summer or humid environments, apply mineral oil to the guide rails regularly to prevent rust‌.
‌2. Environmental cleanliness‌: It is very important to keep the guide rails and their surroundings clean. Even if tiny dust enters the guide rails, it will increase wear, vibration and noise. Therefore, ensure that the working environment is clean and avoid the intrusion of dust and impurities‌.
‌3. Correct installation‌: When installing the guide rail, professional tools should be used to avoid using a hammer to directly hit the guide rail. Strong stamping and pressure transmission through the roller body are prohibited. Be careful during installation to ensure that the guide rail fits tightly with the installation surface.
4. Lubrication maintenance‌: Regularly check and maintain the lubrication status of the guide rail to ensure that it will not be damaged due to lack of lubrication during operation. Proper lubrication can reduce friction and extend the service life of the guide rail.
5. Avoid excessive load‌: During use, the rated load of the guide rail should be avoided to prevent damage to the guide rail or affect its accuracy. Reasonably design the load distribution and motion path to ensure that the guide rail operates within a safe range.
6. Regular inspection‌: Regularly check the operating status of the guide rail, including lubrication, wear and noise level. Find problems in time and perform maintenance or replace damaged parts to ensure the stable operation of the guide rail.

Source:https://blog.udn.com/e429c9a1/182839019

1. Basic structure of hybrid stepper motors
The hybrid stepper motor consists of two parts: the stator and the rotor. The stator usually has 8 poles or 4 poles, with a certain number of small teeth evenly distributed on the pole surface, and the coil on the pole can be energized in two directions. The rotor consists of two tooth plates with a certain number of small teeth evenly distributed on the circumference. The two tooth plates are staggered by half a tooth pitch, and an axially magnetized annular permanent magnet is sandwiched in the middle.

2. Working principle of hybrid stepper motors
The working principle of hybrid stepper motors is to combine the two principles of permanent magnet and variable reluctance. When current passes through the stator winding, a magnetic field is generated, which causes the magnetic poles on the rotor to be attracted or repelled, thereby causing the rotor to move. The rotor of a hybrid stepper motor consists of multiple magnetic poles, usually of two types: single stack and double stack. There is only one permanent magnet pole and multiple variable reluctance poles on the single stack rotor, while there are two permanent magnet poles and multiple variable reluctance poles on the double stack rotor.

‌3. Selection principles of hybrid stepper motors
1. Load torque: First, you need to determine the torque required for the stepper motor to drag the load. You can measure the load torque by adding a lever to the load shaft and pulling the lever with a spring scale, or directly calculate it theoretically based on the load characteristics. The maximum torque of a stepper motor usually does not exceed 45Nm. The larger the torque, the higher the cost. If the selected motor torque is large or exceeds this range, you can consider adding a reduction device.
‌2. Maximum operating speed: The speed of the stepper motor has an important influence on its performance. As the motor speed increases, the torque will decrease, and the speed of the decrease is related to factors such as the drive voltage, phase current, and phase inductance. Generally, the speed of the stepper motor should be controlled within 1500 rpm or 1000 rpm.
‌3. Step angle: The step angle is an important parameter to measure the accuracy of the stepper motor. The step angle of the hybrid stepper motor is usually small, such as 1.8 degrees or 0.9 degrees, which enables it to achieve high-precision position control.
‌4. Static torque‌: Static torque is one of the key parameters to consider when selecting a hybrid stepper motor. Static torque should be selected according to the load characteristics, and should generally be 2-3 times higher than the friction load‌.
‌5. Current selection‌: The current selection of the motor should be determined based on its torque-frequency characteristic trend graph. The working characteristics under different currents are different, so it is necessary to refer to the motor's current-frequency characteristic curve to select the appropriate current‌.

4. Common application areas of hybrid stepper motors
‌1. Industrial automation‌: Hybrid stepper motors are widely used in the field of industrial automation, such as CNC machine tools, packaging equipment, printing machines, textile machines, laser equipment, etc. They are mainly used for precise positioning, feeding, positioning control and stepper drive, etc. ‌.
‌2. 3D printing‌: In 3D printing equipment, hybrid stepper motors are often used as drivers for print heads to control the position and speed of the print heads to achieve precise three-dimensional printing‌.
‌3. Medical equipment‌: Hybrid stepper motors are also widely used in medical equipment, such as medical robots, CT scanners, syringe pumps, blood separation equipment, etc. They provide precise motion control and position positioning to meet the requirements of medical equipment for accuracy and reliability.
‌4. Automotive parts‌: Hybrid stepper motors can be used in automotive parts, such as automotive electronic injectors, on-board cameras, automatic sunroofs, door locks, etc. Precise position adjustment and motion control are achieved through stepper control.
‌5. Household appliances‌: In household appliances, hybrid stepper motors are used to drive actuators in electrical appliances, such as fans, valves, and conveyor belts.
‌6. Robotics‌: Hybrid stepper motors are also used in various types of robots, including industrial robots, service robots, medical robots, etc. They provide precise position control and motion control to achieve various tasks and actions of robots.
‌7. Other applications‌: Hybrid stepper motors are also used in ATM machines, inkjet printers, engraving machines, photo machines, spraying equipment, computer peripherals and mass storage devices, precision instruments, office automation and other fields. They are particularly suitable for applications requiring smooth operation, low noise, fast response, long service life and high output torque.

Source:https://blog.udn.com/stepperrelation/182668758

1. Definition and principle of planetary gearboxes
A planetary gearbox is a mechanism that reduces the transmission speed ratio and increases the torque of the motor proportionally. Its structure includes multiple planetary gears rotating around a sun gear. This design enables the planetary gearbox to provide efficient deceleration and torque increase effects in a compact space. The working principle of the planetary gearbox is based on the motion characteristics of planetary gears. The planetary gears not only rotate around their own rotation axis (autorotation), but also rotate around the axis of other gears with the planet carrier (revolution). This design enables the planetary gearbox to provide a smooth transmission effect between the high-speed rotating motor and the low-speed rotating load.

2. Control function of planetary gearbox
1. Deceleration function: When the sun gear remains fixed, the pinion rotates around the sun gear, and the output shaft realizes the transmission of the deceleration ratio through the rotation of the pinion. This configuration makes the output shaft rotate at a lower speed than the input shaft.
2. Reversing function: During the reversing process, the sun gear is used as the power input, the ring gear is used as the power output, and the planetary gear carrier remains fixed. This configuration allows the power to be transmitted from the sun gear to the ring gear to achieve the reversing function.
‌3. Direct connection function‌: Power is input from the sun gear and directly transmitted to the planetary gear carrier through the ring gear to achieve direct connection of power. This configuration simplifies the transmission system and improves the efficiency of power transmission‌.
‌4. Acceleration function‌: When the planetary gear carrier is used as the input end, the sun gear is output, and the ring gear remains fixed, the structure becomes a speed-increasing transmission. This configuration makes the output shaft rotate faster than the input shaft‌.

3. Design features of planetary gearboxes
‌1. Efficient transmission‌: The planetary gearbox has a large speed-increasing ratio, strong load-bearing capacity, compact structure and light weight. At the same time, the input and output shafts are collinear, which is very suitable for the needs of wind turbines‌. This design allows the planetary gear to perform both internal meshing transmission and external meshing transmission of the sun gear, and to rotate around its own axis while revolving around the axis with the planetary carrier‌.
‌2. Efficient transmission ratio‌: The transmission ratio range of the planetary gear set can be adjusted according to the different fixed components. For example, when the outer ring gear is fixed, the sun gear and the planet carrier rotate in the same direction, and the transmission ratio is between 3:1 and 12:1; when the planet carrier is fixed, the sun gear and the inner ring gear rotate in opposite directions, and the transmission ratio is between 2:1 and 11:1; when the sun gear is fixed, the planet carrier and the outer ring gear rotate in the same direction, and the transmission ratio is between 1.1:1 and 1.7:1.
‌3. Compact structure: The structural design of the planetary gearbox makes it small in size and light in weight, suitable for use in equipment with limited space. This design not only saves space, but also reduces the overall weight, which is conducive to the portability and installation convenience of the equipment.
‌4. High efficiency: The planetary gearbox has high efficiency, which can reduce energy loss and improve the operating efficiency of the overall system. This high efficiency makes the planetary gearbox perform well in various industrial applications, especially in situations where high-efficiency transmission is required.
‌5. Multi-purpose: The planetary gearbox can achieve functions such as differential, deceleration (speed increase), and reversal by fixing different components, which makes it highly flexible in various application scenarios. For example, in the automotive industry, planetary gear sets are used in power splitting in AT transmissions and hybrid systems.

4. Common application industries of planetary gearboxes
‌1. Machine tool industry‌: Planetary gears are widely used in CNC machine tools and machining centers to transmit high-precision, high-torque power. In the machine tool industry, planetary gears are mainly used to transmit rotational and linear motion, such as spindle transmission and feed transmission. Planetary gears have the advantages of high precision, high transmission efficiency and low noise.
‌2. Robot industry‌: Planetary gears have important applications in robot joint transmission and end effector transmission. The working environment of robots is usually harsh, requiring high-precision, high-reliability and low-noise transmission devices, and planetary gears just meet these requirements.
‌3. Aerospace industry‌: Planetary gears are widely used in key components such as aircraft engines and aircraft landing gears. Its high precision, high torque transmission capacity and low noise can meet the high requirements of the aerospace field for transmission devices.
‌4. Medical device industry‌: Planetary gears are used in various medical devices, such as surgical robots and medical imaging equipment. Its high precision, high reliability and low noise ensure the accuracy and safety of medical devices‌.
‌5. Financial machinery and game consoles‌: Planetary gearboxes are used in conjunction with motors for micro reduction motors, automatic curtains, smart toilets, lifting systems, banknote counters, advertising light boxes and other equipment. These applications cover office automation, smart homes, production automation and other fields‌.
Source:https://blog.udn.com/stepperrelation/182487893

1. Definition of bipolar stepper motors
A bipolar stepper motor is a motor that converts electrical pulse signals into precise angular or linear displacements. ‌It contains two main coils, each with two wires, a total of four wires, which are used to control the rotation of the motor. When an appropriate current pulse is applied to the coil of a bipolar stepper motor, it rotates according to a preset step angle. By precisely controlling the sequence and frequency of the current pulses applied to each coil, the direction and speed of the motor's rotation can be precisely controlled. ‌

2. Main features of bipolar stepper motors
1‌. High-precision positioning‌: Due to the use of stepping technology, bipolar stepper motors can accurately position to the required position, and each step position is very accurate, meeting the needs of high-precision control‌. ‌2. Strong reversibility‌: By changing the direction of the external current, the bipolar stepper motor can achieve forward and reverse rotation, adapting to various complex motion control needs‌. ‌ ‌3. Large static torque‌: Even in a stationary state, bipolar stepper motors can provide high torque output, can withstand various loads, and provide good starting power when they start to rotate.
4. Flexible control method‌: Because it contains two coils and four wires inside, bipolar stepper motors are more flexible in control method than unipolar stepper motors and can adapt to a wider range of control strategies and application scenarios.
5. Sensitive dynamic response‌: Bipolar stepper motors have a faster dynamic response speed and can quickly adjust the control amount to cope with system changes.

3. High-precision positioning method of bipolar stepper motors
1. Full step control‌: This is the simplest control method, driving the motor a full step angle each time. By controlling the on-off sequence of the current, ensure that the motor switches between each orthogonal position. The implementation steps of full step control include initializing the port of the stepper motor, setting the current sequence, and cyclically outputting the control signal to make the motor rotate step by step.
2. Half step control‌: By changing the phase of the current, the motor rotates half a step angle each time. This method can improve positioning accuracy because each rotation is smaller, reducing the cumulative error.
‌3. Microstepping control: By finely controlling the phase and duration of the current, the motor can make smaller rotations within each step angle, further improving positioning accuracy. Microstepping control requires more complex circuits and higher control accuracy.
‌4. Dynamic control algorithm: It includes acceleration and deceleration control and position feedback control. Acceleration and deceleration control improves positioning accuracy by smoothly changing the speed of the motor and reducing the impact during starting and stopping. Position feedback control monitors the actual position of the motor in real time through feedback devices such as encoders, and adjusts the control signal according to the deviation to achieve closed-loop control.
‌5. Subdivision drive: Set the subdivision parameters in the driver to subdivide a step angle into smaller microsteps. This can improve the accuracy of position control and reduce positioning errors.
‌6. Closed-loop feedback system: Use feedback devices such as encoders to feed back the actual position information of the motor to the control system. The control system adjusts the pulse signal according to the deviation between the feedback information and the target position to achieve closed-loop position control.
‌7. Speed ​​control‌: In the process of position control, combined with speed control, the frequency of the pulse signal is adjusted to change the speed of the motor, so that a smooth stop is achieved when the target position is reached‌.

4. Common applications of bipolar stepper motors
‌1. CNC machine tools‌: Bipolar stepper motors are widely used in CNC machine tools because they can directly convert digital pulse signals into angular displacement without A/D conversion, which makes them excellent in positioning control. CNC machine tools require high-precision position control, and stepper motors just meet this need‌.
‌2. Printers‌: In printers, bipolar stepper motors are used to move the print head position and feed the printing paper. By precisely controlling the movement of the stepper motor, the quality and accuracy of the printed output can be ensured‌.
‌3. Digital cameras‌: Stepper motors control the lens in digital cameras to adjust the focal length and brightness of the subject. This application requires stepper motors with high-precision position control and stable performance‌.
‌4. Air conditioners‌: In air conditioning systems, bipolar stepper motors are used to move the shutters of indoor units, thereby changing the direction of airflow. By precisely controlling the movement of the shutters, more efficient airflow regulation can be achieved.
‌5. Slot machines: Stepper motors turn the scroll in the slot machine and stop it precisely at the specified position. This application requires the stepper motor to have high-precision position control and stable stopping capabilities.
‌6. Astronomical telescopes: Stepper motors are used in accessories of astronomical telescopes to automatically search and track stars located by a controller or computer. This application requires stepper motors to have high-precision position control and stable motion performance.
‌7. Laser engravers, 3D printers, and laser printers: Bipolar stepper motors are often used in these small industrial machines because they are cost-effective, easy to drive, and suitable for open-loop systems. The open-loop control characteristics of stepper motors enable these devices to achieve high-precision positioning and motion control.

Source:https://blog.udn.com/stepperrelation/182285465

1. Working principle of harmonic reducer ‌gearbox
The working principle of harmonic reducer gearbox‌ is based on elastic mechanics and gear meshing theory. The wave generator is usually elliptical or hyperbolic, and the change of its shape will cause the flexible gear to produce periodic elastic deformation, and then mesh and disengage with the rigid gear, thereby transmitting power. When the wave generator rotates inside the flexible gear, the change of its shape will cause the flexible gear to produce periodic deformation, so that the meshing state of the flexible wheel and the rigid wheel will change continuously, thereby achieving the deceleration effect ‌.

2. Structure of harmonic reducer ‌ gearbox
‌1. Rigid wheel ‌: The rigid wheel is a rigid internal gear, usually made of high-strength materials such as steel. Its tooth shape is triangular or involute, and the number of teeth is slightly more than the flexible wheel (usually two more teeth). The rigid wheel is usually used as a fixed component in the harmonic reducer, meshing with the flexible wheel to transmit motion and power.
‌2. Flexible wheel ‌: The flexible wheel is a thin-walled cylindrical external gear with a large elastic deformation capacity. Its inner hole diameter is slightly smaller than the long axis of the wave generator, and its tooth shape is the same as that of the rigid wheel, but the number of teeth is less. Under the action of the wave generator, the flexible wheel produces periodic elastic deformation, meshing and disengaging with the rigid wheel, thereby transmitting power.
‌3. Wave generator‌: The wave generator is the active part of the harmonic reducer, usually composed of an elliptical disk and a flexible ball bearing or a rotating arm with rollers at both ends. When the wave generator is installed in the inner hole of the flexible wheel, because its length is slightly larger than the diameter of the inner hole of the flexible wheel, the flexible wheel is forced to support into an elliptical shape, thereby realizing the meshing transmission with the rigid wheel. The rotation of the wave generator drives the flexible wheel to produce continuous deformation, forming a simple harmonic waveform motion, and realizing the deceleration function.

3. Design features of harmonic reducer gearbox
1. Large transmission speed ratio‌: The transmission speed ratio of a single-stage harmonic gear is in the range of 70~320, which can reach 1000 in some devices, and the multi-stage transmission speed ratio can reach more than 30000. It can be used not only for deceleration, but also for speed increase. ‌ 
‌2. High load-bearing capacity‌: There are many teeth meshing at the same time in the harmonic gear transmission, and the number of teeth meshing at the same time in the double-wave transmission can reach more than 30% of the total number of teeth. In addition, the flexible wheel is made of high-strength material, and the teeth are in surface contact, so the load-bearing capacity is high‌.
3‌. High transmission accuracy‌: Due to the multi-tooth meshing, the error is averaged, and the transmission error is only about 1/4 of the ordinary cylindrical gear transmission. By slightly changing the radius of the wave generator, the tooth gap can be very small, or even meshing without side clearance, and the transmission idle stroke is small, which is suitable for reverse rotation‌.
‌4. High transmission efficiency and smooth movement‌: Since the flexible wheel teeth move uniformly in the radial direction during the transmission process, even if the input speed is very high, the relative slip speed of the teeth is still extremely low, the tooth wear is small, and the efficiency is high (up to 69%~96%). When meshing in and out, both sides of the gear participate in the work, there is no impact phenomenon, and the movement is smooth‌.
5. Simple structure, small size and light weight: The harmonic reducer has only three basic components (wave generator, flexible gear and rigid gear), and the input and output shafts are coaxial, with a simple structure and easy installation. Compared with general reducers, the volume of the harmonic gear reducer can be reduced by 2/3 and the weight can be reduced by 1/2 when the output torque is the same.
6. It can transmit motion to a confined space: By utilizing the flexibility of the flexible wheel, this advantage is unmatched by other existing transmissions.

4. Application significance of harmonic reducer gearboxes
1. Industrial robots: Harmonic reducer gearboxes are widely used in industrial robots, and can provide high reduction ratios and high torque density to meet the precise positioning requirements of robot joints. Its low noise and vibration characteristics help to improve the comfort of the working environment.
2. Aerospace: In the field of aerospace, harmonic reducer gearboxes are favored for their high reliability, precise control and lightweight design. It can work stably in extreme environments to ensure the precise control of spacecraft.
‌3. Medical devices‌: Surgical robots and diagnostic equipment require high-precision and high-stability transmission systems. Harmonic reducers can provide precise speed and position control, while their sealed design helps maintain the sterility of the surgical environment. ‌
4. Automation equipment‌: In automation equipment, the high efficiency and compact design of harmonic reducers help improve production efficiency and reduce energy consumption. Its standardized interface and modular design facilitate integration. ‌
5. Precision instruments‌: Harmonic reducer gearboxes are used in precision instruments to achieve high-precision motion control and meet the needs of various high-precision tasks.

Source:https://blog.udn.com/stepperrelation/182117918

1.Working principle of planetary gearboxes
The working principle of planetary gearboxes is based on the special design of planetary gear mechanisms. The planetary gears rotate around the sun gear while rotating themselves. This structure allows power to be transmitted between multiple gears, thereby achieving efficient deceleration and torque amplification. Planetary gearboxes can achieve deceleration or speed-up transmission by fixing different components.

2.Main structure of planetary gearboxes
‌1.Sun gear: Usually connected to a rotating shaft, it is the central component of the planetary gear system.
‌2.Planetary gear: Supported by the fixed axis of the planetary carrier, it can rotate freely on the supporting shaft. The planetary gear can not only rotate on its own axis, but also around the central axis of the sun gear.
‌3.Planetary carrier: Supports the planetary gear and transmits torque. Its structure allows the planetary gear to rotate freely on it.
‌4.Ring gear: Usually located on the periphery of the planetary gear, meshes with the planetary gear to transmit power.

3.Design significance of planetary gearbox
1.Efficient transmission: Planetary gearbox can convert the high speed and low torque output of the motor into low speed and high torque, which is suitable for various mechanical equipment, such as machine tools, metallurgical equipment, mining machinery, lifting machinery and ship machinery, etc. This design makes planetary gearbox have a wide range of application value in industrial production.
2.Compact structure: The internal structure of the planetary gearbox is compact. The output speed is adjusted by changing the number of planetary gears and the arrangement of internal and external gears. This speed regulation method is more compact and effective than mechanical gearbox. This design feature gives the planetary gearbox a significant advantage in equipment with limited space.
3.High-precision transmission: The internal structure of the planetary gearbox is precise and the transmission accuracy is high, which can make the operation of mechanical equipment smoother, more stable and more precise. In mechanical equipment that requires precision control, planetary gearbox is an indispensable part.
4.Multi-functional application: Planetary gearbox is widely used in various mechanical transmission systems, including industrial machinery, transportation tools and robots. In automobiles, planetary gearboxes are used in automatic transmissions and four-wheel drive systems to improve the driving experience and fuel economy of automobiles; in robots, planetary gearboxes can improve the power, speed and precision of robots.
‌5.Optimized design and manufacturing: The design of the planetary gearbox optimizes torque distribution and load-bearing capacity, and can effectively transmit torque under high power loads while maintaining the compactness and high load-bearing capacity of the system. This design feature makes planetary gearboxes important in engineering vehicles and other heavy machinery.

4.Protection of planetary gearboxes
1.Regular replacement and cleaning of lubricating oil: Planetary gearboxes need to regularly replace lubricating oil and clean the lubrication system to ensure their smooth operation. The lubricating oil should be replaced every 1000 cumulative hours of operation, and the lubrication system should be thoroughly cleaned.
‌2.Check and maintain key components: Regularly check the key components of the gearbox, such as gears and bearings, to ensure that they are intact. Gears and bearings should be inspected in detail every 5000 hours, wear should be assessed, and damaged parts should be replaced in time.
‌3.Comprehensive disassembly and cleaning‌: Every time the 10,000-hour milestone is reached, a comprehensive disassembly should be carried out, including cleaning internal parts, assessing wear and replacing necessary parts. This helps to extend the service life of the gearbox‌.
‌4.Prevent water stains‌: For specific applications (such as sand dredging ships), protective devices can effectively prevent water stains from corroding the box structure for a long time, improving its durability and service life‌.
‌5.Daily inspection and maintenance‌: Check the working status of the gearbox daily, including lubrication, temperature, and sound. Clean the outside of the gearbox regularly to keep it clean, and check for oil and water leakage, and promptly detect and deal with leakage problems‌.
‌6.Maintenance of the cooling system‌: Clean the cooler to prevent scale accumulation from affecting the heat dissipation effect. Check the working status of the oil pump to ensure that it is supplying oil normally‌.

1.Brief Introduction of Hollow Rotary Actuators
‌Hollow rotary actuators are actuators that convert compressed air pressure or hydraulic pressure into rotary motion. They are usually used in robotics, medical equipment, industrial automation and other fields. They have the characteristics of high precision, stability and flexibility, and can achieve multi-dimensional precise motion control, improve production efficiency, reduce costs and improve product quality.

2.Components and functions of hollow rotary actuators
1.Motor: As a power source, the motor provides the torque and speed required for the rotary actuator. Common motor types include DC motors and AC motors, among which DC motors are suitable for scenarios requiring higher precision and low noise.
‌2.Reducer: The reducer is used to adjust the output speed and torque of the motor to meet the working requirements of the actuator. The design and selection of the reducer directly affects the load capacity and accuracy of the actuator.
‌3.Sensor: The sensor is used to monitor the position, speed and load of the actuator in real time to ensure the stability and safety of the system. Common sensors include encoders and torque sensors.
‌4.Controller‌: The controller is responsible for receiving the signal fed back by the sensor and adjusting the output of the motor according to the preset parameters to achieve precise control. Modern controllers usually use advanced control algorithms, such as PID control, to improve the response speed and stability of the system. ‌

3.Functions of hollow rotary actuators ‌
1.High-precision rotation‌: The hollow rotary actuator has high torque output and high-precision positioning capabilities. For example, the positioning accuracy of the KAH series hollow shaft rotary actuator can reach within 30 arc seconds. ‌Multi-axis control‌: In the joints of the manipulator, the hollow rotary actuator provides multi-axis rotation and flexible posture control, enabling the robot to perform complex tasks. ‌
‌2.Flexible posture adjustment‌: By using a hollow rotary platform, the robot can rotate 360 ​​degrees without changing direction, which is very useful for robots that require visual monitoring and data collection. ‌
‌3.Adapt to harsh environments‌: The hollow rotary actuator has a high protection level (such as IP67) and is suitable for harsh working environments. ‌
‌4.Multifunctional application‌: Hollow rotary platforms are widely used in robotics, medical equipment, industrial automation and other fields, which can improve production efficiency, reduce costs and improve product quality‌.

4.Application fields of hollow rotary actuators
‌1.Industrial automation‌: In automated production lines, hollow rotary actuators can accurately transmit rotary motion to various mechanical equipment to ensure the accuracy and efficiency of the production process. It is widely used in material transmission and processing to help achieve efficient production processes‌.
‌2.Robotics‌: In the field of robotics, hollow rotary actuators provide robots with multi-axis rotation and flexible posture control, enabling them to perform complex tasks. For example, in the joints of the manipulator, hollow rotary actuators help robots achieve high-precision motion control and improve work efficiency and accuracy‌.
‌3.Medical equipment‌: In medical equipment, hollow rotary actuators are used in surgical robots and medical imaging diagnostic equipment to ensure the precise movement and positioning of surgical instruments and medical imaging equipment, and improve the accuracy and safety of surgery‌.
‌4.Aerospace‌: In the field of aerospace, hollow rotary actuators are used to ensure the accurate movement and positioning of various precision components, providing guarantees for the smooth progress of aerospace missions.
‌5.Photography‌: In the field of photography, hollow rotary actuators are used to create a series of photos with overlapping depth of field, generating beautiful panoramic images, which are widely used in the tourism, interior design and entertainment industries.
‌6.Manufacturing industry‌: In the manufacturing industry, hollow rotary actuators help robots on the production line avoid collisions with conveyor belts, maintain effective operation, and improve production efficiency.
‌7.CNC machine tools‌: In CNC machine tools, hollow rotary actuators provide guarantees for the precise positioning of tools and ensure the accuracy of mechanical processing.
‌8.Semiconductor manufacturing‌: In semiconductor manufacturing, hollow rotary actuators are used for precision operations such as wafer transfer to ensure the stability and accuracy of the production process.

Source:https://www.storeboard.com/blogs/electronics/functions-and-applications-of-hollow-rotary-actuators/6060496

1.Working principle of stepper motor encoder
The working principle of stepper motor encoder is mainly to convert electrical pulse signal into corresponding angular displacement or linear displacement. For each input pulse signal, the rotor of the stepper motor will rotate a fixed angle or move forward one step. The output angular displacement or linear displacement is proportional to the number of input pulses, and the speed is proportional to the pulse frequency. ‌Stepper motor encoders are usually used in applications that require precise control of position and speed. It drives the motor to rotate by receiving electrical pulse signals, and the position and speed information of the motor can be read by external devices.

2.Main classification of stepper motor encoders
1.Photoelectric encoder: Use photoelectric sensors and encoder disks to measure the position and movement of the rotor. The grating or encoding hole on the encoder disk is sensed by the photoelectric sensor to measure the angle and position of the rotor. Photoelectric encoders have high precision, good compatibility, and are not easily disturbed by external magnetic fields. They are widely used in stepper servo motor systems that require high-precision position measurement.
‌2.Magnetic encoder: Use magnetic sensors and magnetic scales to detect the position and movement of the rotor. The interaction between the magnetic strip on the magnetic scale and the magnetic sensor is used to measure the angle and position. It is suitable for stepper servo motor systems with certain requirements for accuracy and stability.
‌3.Grating scale encoder: A high-precision encoder based on the grating scale, which uses the interaction between the grating texture on the grating scale and the photoelectric sensor to provide very accurate position measurement. It is often used in stepper servo motor systems with extremely high accuracy requirements.
‌4.Magnetic scale encoder: A high-precision encoder based on magnetic technology, which uses the interaction between the magnetic texture on the magnetic scale and the magnetic sensor to provide high-precision position measurement. It is particularly suitable for stepper servo motor systems with extremely high requirements for accuracy and stability.

3.Connection method of stepper motor encoder
1.Single-axis wiring diagram: The principle is that the 24V power supply is connected to the positive and negative poles of the stepper motor, and the 5V power supply is connected to the pulse and direction input terminals. The specific wiring method is: the brown wire of the 24V power supply is connected to the positive pole, the blue wire is connected to the negative pole, and the yellow and green wires are grounded; the two sets of wires of the motor are connected to the A+ and A-, B+ and B- of the driver; the negative pole of the 24V power supply is connected to the GND of the driver, and the positive pole is connected to the VDC of the driver; the red and green wires of the encoder are connected to the PUL- and DIR- of the driver, the black wire is connected to GND, and the white wire is connected to DIR+‌12.
‌2.Two-axis wiring diagram‌: The pulse and direction connection is the pulse and direction input terminal of stepper motor 2, and the pulse of stepper motor 1 is also connected to the 5V power supply‌2.
‌3.Four-axis wiring diagram‌: The principle is that Y1, Y2, Y3, and Y4 are used as pulse outputs, and Y5, Y6, Y7, and Y8 are used as direction control. The specific wiring method is: the pulse output line is connected to the corresponding pulse input terminal, and the direction control line is connected to the corresponding direction input terminal‌.

4.Main functions of stepper motor encoders
‌1.Measuring position‌: Stepper motor encoders can accurately calculate the current position of the motor. By processing photoelectron signals, the encoder can measure the rotation angle of the motor to determine the specific position of the motor.
‌2.Measuring speed‌: The encoder can measure the speed of the motor by calculating the position change of the motor at each moment. This is very important for applications such as high-precision positioning, motion control, and adaptive control, and can help the system adjust control parameters in real time to improve motion accuracy and positioning accuracy.
‌3.Improving motion control accuracy‌: The encoder can provide deterministic feedback signals to ensure accurate position control and eliminate errors caused by load changes or environmental factors. In addition, by providing more accurate speed feedback information, the encoder can improve the motor's motion performance and reduce noise and vibration.
‌4.Preventing lost steps‌: In stepper motors, encoders can prevent the motor from losing steps. Through a closed-loop control system, the encoder can monitor the position and speed of the motor in real time to ensure that the motor runs according to the preset number of steps and avoid errors caused by insufficient or excessive number of steps. ‌
‌5.Synchronous control‌: In a multi-motor system, the encoder can help synchronize the movement of different motors, ensure that each motor runs in a preset order and speed, and improve the overall coordination and stability of the system‌.
‌6.Fault diagnosis‌: The encoder can also be used to monitor abnormal conditions of the motor, such as overspeed, jamming, etc. By monitoring the output signal in real time, the system can detect and handle these abnormal conditions in time to ensure the normal operation of the equipment‌.
‌7.Data acquisition‌: The encoder can output digital signals, analog signals or pulse signals for connection to a data acquisition system or controller to achieve real-time data acquisition and monitoring‌.

1.Brief description of integrated stepper motor
An integrated stepper motor is a motor system that integrates stepper motor, driver, motion controller and encoder into a whole. This design greatly reduces the installation space and wiring requirements, improves the reliability and practicality of the system, and is particularly suitable for application scenarios with limited installation space and high integration requirements. The basic structure of an integrated stepper motor includes a stator and a rotor. The stator usually contains multiple electromagnetic coils, while the rotor consists of a series of magnetic poles. In addition, the integrated stepper motor also integrates the driver and controller, and sometimes also includes an encoder to form a closed-loop control system, ensuring higher accuracy and stability.

2.Working principle of integrated stepper motor
The working principle of integrated stepper motor is based on the control of electrical pulse signals. When current flows through the stator winding, the stator winding will generate a vector magnetic field, which will drive the rotor to rotate an angle so that the direction of a pair of magnetic fields of the rotor is consistent with the direction of the magnetic field of the stator. Each time an electrical pulse is input, the motor rotates a fixed angle, called the "step angle". By controlling the number of pulses, frequency and the power-on sequence of each phase winding of the motor, the rotation of the motor can be precisely controlled.

3.Driving mode of integrated stepper motor
‌1.Constant voltage drive: In this driving mode, the motor winding is powered by only one direction voltage during operation. When the input signal is high, the power supply voltage acts on the motor winding; when the signal is low, no current passes through the winding. The advantages of this driving mode are simple circuit structure, few components, low cost, and high reliability, but low efficiency, and it is only suitable for driving low-power stepper motors.
‌2.High and low voltage drive: In order to make the winding quickly reach the set current when powered on, and the winding current quickly decays to zero when turned off, and at the same time have high efficiency, a high and low voltage drive mode has emerged. High voltage is used to supply power at the front edge of conduction to increase the current rise rate, and low voltage is used to maintain the winding current in the subsequent period. This driving mode can obtain better high-frequency characteristics, but the control circuit is more complicated and the reliability is reduced. Once the high-voltage tube is out of control, the motor may be damaged.
‌3.Constant current chopper drive‌: This drive mode converts the current value of the stepper motor winding into a certain proportion of voltage, compares it with the preset value, and controls the current by chopping. The advantage of this drive mode is that it can accurately control the current and is suitable for occasions where precise torque control is required‌.

4.Characteristics and advantages of integrated stepper motors
‌1.Integrated design‌: The integrated stepper motor integrates the driver and the motor body, reduces external equipment and wiring, reduces the complexity and failure rate of the system, and improves the reliability of the system‌.
‌2.High-performance control‌: The closed-loop control technology is adopted to achieve precise control of the motor through real-time feedback of the motor's position and speed information, thereby improving the stability and accuracy of the system‌.
‌3.High-efficiency conversion‌: The design of the motor and the driver is optimized, the power conversion efficiency is improved, the energy consumption is reduced, and it meets the requirements of green environmental protection‌.
‌4.Intelligent operation‌: Supports a variety of control protocols and interface standards, and can achieve seamless connection with host computers or PLCs and other devices, facilitating users to conduct remote monitoring and debugging‌.
‌5.Small size‌: Integrated motors integrate multiple components together, reducing the overall volume, saving space, and are suitable for space-constrained applications‌.
‌6.High performance‌: The motor, control circuit, sensor and other components in the integrated motor can be tightly integrated and coordinated, thereby improving the overall performance of the system‌.
‌7.Simplified design and installation‌: The integrated design makes the design and installation of the system simpler, reduces wiring and connection work, and reduces the complexity of design and installation‌.
‌8.Improve reliability‌: Due to the reduction in the use of connectors, wiring and sensors, the risk of failure is reduced and the reliability of the system is improved‌.
‌9.Save energy‌: Integrated motors are generally more efficient, can more effectively convert electrical energy into mechanical energy, and reduce energy consumption‌.

Source:https://community.networkofcare.org/blogs/stepper_motor1/archive/2024/10/11/working-principle-and-driving-mode-of-integrated-stepper-motor.aspx