In this paper, modelling and theoretical research of micropositioning system with stepper motor are proposed. The aim of our research is to provide a method, which is suitable for modelling a ball-screw based positioning system controlled by a stepper motor. A created dynamical model of micropositioning system mechanical parts. The second type of Lagrange equation is used to construct the mathematical model. For modelling micropositioning systems, Matlab/SIMULINK software is used. MatLab is used to perform calculations of some equations, and SIMULINK is used to create a dynamic model of a micropositioning system and simulate system operation. Analysis of motion smoothness showed that even for systems with relatively small screw radius and pitch 1/4 microstepping mode are unable to provide smooth movement. The smoother the movement, the less energy is required to overcome friction.

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