DESIGN OF CARTESIAN ROBOT TEST RIG FOR ANGULAR POSITION SENSORS

Filip Donchevski; Dushko Stavrov; Gorjan Nadzinski; Mile Stankovski

doi:10.51466/JEEIT2491215013d

Filip Donchevski Faculty of Electrical Engineering and Information Technologies, Ss. Cyril and Methodius University in Skopje, 18 Rugjer Bošković Str., 1000 Skopje, Republic of Macedonia
Dushko Stavrov Faculty of Electrical Engineering and Information Technologies, Ss. Cyril and Methodius University in Skopje, 18 Rugjer Bošković Str., 1000 Skopje, Republic of Macedonia
Gorjan Nadzinski Faculty of Electrical Engineering and Information Technologies, Ss. Cyril and Methodius University in Skopje, 18 Rugjer Bošković Str., 1000 Skopje, Republic of Macedonia
Mile Stankovski Faculty of Electrical Engineering and Information Technologies, Ss. Cyril and Methodius University in Skopje, 18 Rugjer Bošković Str., 1000 Skopje, Republic of Macedonia

DOI: https://doi.org/10.51466/JEEIT2491215013d

Keywords: test rig, Cartesian robot, XYZR robot, angle sensor, inductive sensor, eddy-currents

Abstract

A design solution for a test rig is proposed, intended for experimentation with angular position sensors. The test rig utilizes a Cartesian robot (gantry robot) with an additional axis for the purpose of implementing rotational motion. In addition, this test rig introduces a supervisory control system (SCS) for the purpose of: interacting with the user, acquiring and recording measurement results from an oscilloscope, coordination between the motion of robot and oscilloscope measurement actions. The test rig will provide a remote access with real-time video stream that will enable control and monitoring activity from Wide Area Network (WAN). The design incorporates a goal of a low cost build while achieving a reasonable motion accuracy for the testing purposes of a common angular position sensor. Furthermore, the build is designed to be modular and flexible enough to be repurposed for future educational uses in the field of robotics. The design envisages a solution that should require the least amount of custom developed technologies, utilizing already available and widely used mechanical and electrical hardware components, as well as software tools and libraries.