METHODOLOGY FOR TESTING MEDICAL ROBOT AXES USING MULTIFACTORIAL TESTS WITH AN INERTIAL TEST BENCH

This work aims to develop a methodology for multi-factor testing of medical robot axes using an inertia test bench, which consists of a mechatronic module under test connected to a load mass driven by a motor through an electromagnetic clutch, along with a force-torque sensor and two optical position sensors. During the conducted experiments, the authors determine the characteristics of nominal braking parameters, as well as relationships between brake process parameters and given velocity and magnitude of external moment of inertia; collect data from the sensors and process it by an STM32 board, then record it in a text file format (.txt). Based on these findings, further adjustments can be made to the design parameters of the mechatronic axis module of a medical robot to modify its functional dependence and improve device performance.