Robotic flange system for active alignment of microwave, millimetre-wave and terahertz waveguides

This paper describes a computer vision based robotic waveguide flange alignment system that achieves improved repeatability of waveguide measurements. The proof-of-concept is demonstrated using WR-62 in the frequency band 12.40 GHz to 18 GHz. An Arduino board was used to interface a three-channel NTS NanoDirect XYZ positioner with MATLAB and its image acquisition toolbox. The measured results of a back-to-back adapter pair demonstrate significantly improved repeatability with the automated system compared with manual alignment. Through EM modelling of two WR-1.0 rectangular waveguides over the frequency range 800 GHz to 1 THz it is shown that this new method for enhancing measurement repeatability will be invaluable.