Electromagnetic Encoders Screen-Printed on Rubber Belts for Absolute Measurement of Position and Velocity

Ferran Paredes*, Cristian Herrojo, Ana Moya, Miguel Berenguel Alonso, David Gonzalez, Pep Bruguera, Claudia Delgado Simao, Ferran Martín

*Corresponding author for this work

Research output: Contribution to journalArticleResearchpeer-review

14 Citations (Scopus)


This paper presents, for the first time, an absolute linear electromagnetic encoder consisting of a rubber belt with two chains of screen-printed metallic inclusions (rectangular patches). The position, velocity, and direction of the belt (the moving part) is determined by detecting the inclusions when they cross the stator (the static part). The stator is a microstrip line loaded with three complementary split ring resonators (CSRRs), resonant elements exhibiting a resonance frequency perturbed by the presence of inclusions on top of them (contactless). The line is fed by three harmonic signals tuned to the resonance frequencies of the CSRRs. Such signals are generated by a voltage-controlled oscillator (VCO) managed by a microcontroller. The sensed data are retrieved from the pulses contained in the envelope functions of the respective amplitude modulated (AM) signals (caused by the belt motion) generated at the output port of the line. One of the signals provides the absolute belt position, determined by one of the chains, the encoded one. The information relative to the velocity and motion direction is contained in the other AM signals generated by the motion of the other chain, periodic, and thereby, uncoded. The spatial resolution of the system, a figure of merit, is 4 mm. Special emphasis is devoted to the printing process of the belt inclusions.

Original languageEnglish
Article number5
Pages (from-to)2044
Number of pages1
Issue number5
Publication statusPublished - 5 Mar 2022


  • Electromagnetic encoders
  • Microstrip technology
  • Motion control
  • PMSM
  • Screen-printing
  • electromagnetic encoders
  • microstrip technology
  • motion control
  • screen-printing


Dive into the research topics of 'Electromagnetic Encoders Screen-Printed on Rubber Belts for Absolute Measurement of Position and Velocity'. Together they form a unique fingerprint.

Cite this