## 3 Experimental Methods and Results
### Control Accuracy  
In the system, errors appeared superimposed. To achieve the system's functionality accurately, both the accuracy of the visual inspection and that of the individual actuators needed to be met [28; 29; 30; 31]. Consequently, the accuracy of the individual actuators was verified. (1) Verification of the accuracy of the reducer stepper motor control. The accuracy of the reducer stepper motor was crucial for the camera to achieve optimal functionality in terms of capturing sufficient samples and achieving accurate cutting. The reducer stepper motor was equipped with a code plate on the output shaft, enabling the detection of the angle of rotation and closed-loop control of the motor angle. However, speed requirements also needed to be met. Thus, we conducted tests to determine the time required to rotate the same angle in practice. Two photoelectric sensors were installed at a specific distance apart in the rotation path of the plasma bag tray. They were triggered in sequence as the plasma bag tray rotated, and the timer in the STM32 recorded the duration between the sensor triggers. The experimental results presented in Figure 11 demonstrate that the average rotation time was 695.5 ms. The graph also shows that the angle fluctuation range of the gearbox stepper motor was small and stable. \begin{table}
\begin{tabular}{c c c c c c c c c} \hline \hline \multirow{2}{*}{**Number**} & \multirow{2}{*}{**Direction**} & \multicolumn{6}{c}{**Proportional Error for Different Counts (\%)**} & \multicolumn{2}{c}{**Improve**} \\ \cline{3-8}  & & **1** & **2** & **3** & **4** & **5** & **6** & **(\%)** \\ \hline \multirow{2}{*}{1} & a & \(-20.71\) & \(5.87\) & \(4.20\) & \(5.75\) & \(1.24\) & \(5.34\) & \(23.7\) \\  & b & \(1.71\) & \(1.68\) & \(1.62\) & \(1.71\) & \(1.66\) & \(1.64\) & \(2.3\) \\ \hline \multirow{2}{*}{2} & a & \(3.80\) & \(-3.91\) & \(-1.21\) & \(-3.84\) & \(2.59\) & \(3.64\) & \(86.0\) \\  & b & \(1.21\) & \(1.22\) & \(2.40\) & \(1.46\) & \(1.95\) & \(1.44\) & \(-33.3\) \\ \hline \multirow{2}{*}{3} & a & \(10.11\) & \(-8.43\) & \(0.92\) & \(2.71\) & \(-2.93\) & \(3.13\) & \(89.1\) \\  & b & \(1.14\) & \(1.24\) & \(1.04\) & \(1.16\) & \(1.08\) & \(1.07\) & \(-1.6\) \\ \hline \multirow{2}{*}{4} & a & \(8.89\) & \(2.52\) & \(3.42\) & \(2.88\) & \(2.64\) & \(2.52\) & \(68.6\) \\  & b & \(1.99\) & \(1.45\) & \(1.47\) & \(1.55\) & \(1.41\) & \(1.44\) & \(22.0\) \\ \hline \multirow{2}{*}{5} & a & \(5.52\) & \(0.45\) & \(2.78\) & \(0.75\) & \(1.34\) & \(1.16\) & \(-188\) \\  & b & \(1.04\) & \(1.66\) & \(1.47\) & \(1.80\) & \(1.41\) & \(1.32\) & \(-39.4\) \\ \hline \hline \end{tabular}
\end{table} 
Table 2: Table of proportional errors in a range of different positions. Figure 11: Speed-reducer stepper-motor-rotation time-folding diagram. (2) Verification of the control accuracy of the screw slide  
Efficiency was one of the important indicators in the system design requirements, and as such, the rotation platform must move quickly. However, due to the significant speed loss associated with the screw structure's conversion of rotary motion to linear motion, it w essential to strike a balance between precise control of the screw slide and increased speed. The more subdivisions the stepping motor had, the more precise it became, but its rotation speed decreased. The table below displays the step angle setting and the time required for the screw slide to move 50 mm. Based on the pitch of the screw rod being 6 mm, we calculated the required number of motor steps and used the proportion of error between the actual and calculated pulse counts to determine the appropriate frequency division pulse. Figure 12 shows that the stepper motor experienced a significant loss of step at a frequency division pulse of 400. However, after removing this data, the remaining data exhibited minor fluctuations and good stability. The system required the slide to travel a maximum distance of 50 mm, had a camera first shot time of 0.3 s and a complete pallet rotation time of 2.5 s, allowing ample time for system movement.