Dynamic modelling of a single-axis belt-drive system

Belt-driven positioning stages are widely used in industrial positioning applications and offer a low cost alternative to lead or ball screw stages. Due to the elasticity of the transmission element and friction effects, a dynamic model of these stages is needed to accurately simulate their response. This paper addresses the development of a dynamic model of a single-axis belt-driven linear motion positioning stage actuated by a geared DC motor. The model represents the effect of the mass of the cart and the inertia of the pulleys, the stiffness of the belt, the non-linear friction in the pulleys and cart motion, and the dynamics of the motor. Experimental and simulation work is performed to compare the performance of the real system with the non-linear model, and the results show that the developed model can accurately represent the dynamics of the belt-driven stage.