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Stepper motor experiment results [28]
| Current [A] | Weights mass [g] | Torque [mN/m] |
|---|---|---|
| 1.05 | 218 | 130.8 |
| 1.53 | 297 | 178.2 |
| 1.96 | 373 | 223.8 |
| 2.35 | 433 | 259.8 |
| 2.73 | 477 | 286.2 |
Motor specifications [28]
| Motor outer diameter | 56.5 mm |
| Motor body height | 52 mm |
| Stator outer diameter | 54.1 mm |
| Stator inner diameter | 30 mm |
| Number of teeth in each stator pole | 5 |
| Stator teeth depth | 1.25 mm |
| Stator height | 23 mm |
| Air gap | 0.1 mm |
| Rotor outer diameter | 29.8 mm |
| Each half-rotor height | 10 mm |
| Distance between two half-rotors | 3 mm |
| Number of teeth in each half-rotor | 50 |
| Rotor teeth depth | 1.5 mm |
| Magnet diameter | 20.8 mm |
| Magnet height | 13 mm |
| Number of wire-turns per coil | 32 |
| Wire diameter | 0.6 mm |
| Stator and rotor material | Steel 1,008 |
| Magnet material | NdFe35 (1.3 T) |
| Stator and rotors teeth fillet radius | 0.125 mm |
| Maximum nominal current | 3A |
| Angle per step | 1.8° |
| Rotor and stator teeth angle (pitch) | 7.2° |
| Rotor and stator teeth width | 3.6°(0.94 mm) |
| Stator pole thickness | 2 mm |
The motor parameters
| Absolute permeability | μ0 | 4π × 10−7 H/m |
| Slot thickness | t | 0.939 mm |
| Air gap length | g | 0.1 mm |
| Rotor and stator teeth depth | d | 1.375 mm |
| Tooth thickness | s | 0.939 mm |
| Number of teeth per stator pole | Zs | 5 |
| Number of rotor teeth | Zr | 50 |
| Number of wire-turns per stator winding | Ns | 32 |
| Excitation current | i | 1.5 A |
| Rotor height | h | 20 mm |