Design and Implementation of a Probe for 3D Scanning with FPGA-Based Architecture

This work presents the design of a probe, which is a tool that is installed in a Cartesian CNC robot of 3 degrees of freedom (GDL). The probe was designed to perform high-resolution scanning of parts. In order to study the behavior of the mechanism, the dynamic model of the robot is presented, by means of the methodology of lumped parameters using the Euler-Lagrange equation. On the basis of this study, a control system for the robot is developed using an embedded system in a Cyclone V FPGA (Field Programmable Gate Array) from Altera, which allows the position of each motor to be controlled.