I have a very similar setup to what you are wanting. I purchased a set of tips like that, and a 5.5x2.1mm barrel jack extension cable. I cut the cable, stripped the bare ends on the half with a male connector, and put banana jacks on them. I plug the banana jacks into the sockets on my lab bench power supply, and plug whatever needed tip into the other end. Set the proper voltage and away I go! I also have a female cigarette lighter socket I can plug into the supply, if I need to run something intended for a car.

Looks like you can buy the cable with bare ends now: https://www.amazon.com/Power-Supply-Repair-Security-Camera/dp/B09SQCY6BC/

Since it sounds like this will be more of a permanent test setup, you could possibly skip the banana jacks and stick the bare wires directly in the power supply's binding posts.

There are a number of bench supplies out there at different price points. You don't need a huge amount of precision for what you're doing, but don't cheap out too much either.