Radiation Characterization of Scanning Antennas at D-Band using a Robotic Arm

Abstract

This paper presents a robotic arm-based system for the radiation characterization of antennas at D-band (110-170 GHz). The system automates measurements across complex near-field and far-field grids, capturing both co- and crosspolar components. An integrated path-planning algorithm is developed that ensures smooth, collision-free trajectories by selecting optimal joint configurations. This approach is particularly suited for characterizing integrated antennas-in-package (AiP) at millimeter-wave frequencies. The system's accuracy is validated by measuring a standard conical horn antenna, demonstrating excellent agreement between near-field to far-field transformation and direct far-field results. Finally, its flexibility is showcased by characterizing a wide-scan lens antenna, by measuring its beamsteering capability over a ±45° field of view.