Microstepping and High-Performance Control of Stepper Motors for Liquid Handling Robot in Biomedical Analyzers
- May 27, 2018
- Posted by: RSIS
- Categories: Electrical and Electronics Engineering, Electronics & Communication Engineering
International Journal of Research and Scientific Innovation (IJRSI) | Volume V, Issue V, May 2018 | ISSN 2321–2705
Shoukki K, Anil M
Department of Electronics, Vidya Academy of Science and Technology, Thrissur, Kerala, India
Abstract— Fundamental, applied and practical problems of optimal energy conversion and precision motion control of electromechanical systems are of a great importance. The solution of the aforementioned problems allows one to maximize the efficiency, minimize losses. And it can deploy in advanced motion platforms in aerospace, automotive, biomedical instruments, electronics, energy, manufacturing, power, robotics and other applications .This project aims to create a liquid handling robot for various biomedical instruments, like protein analyzer, blood analyzer. This project includes the controlling of a stepper motor using Trinamic Motion Control (TMC). This is the most advanced stepper motor driver and which can control a number of motors at a time. It drivers two-phase stepper motors offer an industry-leading feature set, including high-resolution microstepping, sensorless mechanical load measurement, load-adaptive power optimization, and low-resonance chopper operation. Standard SPI interface used to communication between PSoC and TMC. The stepper motor is used to do a number of functions of liquid handling robot, like mixing of reagents while testing, pippeting of reagents and blood, and it is also used to move robotic arms to take injection etc. Two sensors photo\_logic slotted optical switch and capsensor used to detect different positions motor. controller used is PSoC 3 which provides both Verilog and C programming. So the project includes the comparison between the two languages. The advantage of using verilog is to reduce the time and storage consumption, accurate movement, according to the accuracy of movement of stepper motor gives the better results in analyzers.
Index Terms— Microstepping, TMC, Capsensor, Liquid handling Robot, Homepositioning Sensor
