Eccentricity measurement of using adhesive bond for attaching a laser tracker's SMR to a robot flange

This data is part of the paper: "Design and Evaluation of a Low-Cost Mount for Attaching a Laser Tracker’s SMR to a Robot Flange". It was created by using the software FARO CAM2 for the laser tracker FARO Vantage E with a 1.5 inch Standard Accuracy Break Resistant SMR from FARO with gold covering, a range of 60 m and a centring accuracy of &lt; ±7.6 µm. For the measurements the SMR is placed in a monument attached with adhesive bond to the robot flange facing the laser tracker. It is used to evaluate the accuracy of the designed mount by comparing its eccentricity and repeatability to the method of using an adhesive bond.<br>All measurement values are positional data in the three-dimensional coordinate system (x,y,z) in mm.<br>As a comparison to the designed mount, the current SMR fixture using an adhesive bond was analysed. In order to do this, a SMR monument was placed as close as possible to the centre of wrist 3 of the <i>Universal Robots UR5e </i>and a SMR was placed in the monument. The eccentricity of the attachment was measured with five repetitions of a 360° rotation at the same location with 36 measurements each. The mean eccentricity was 1.185 mm.

本数据集隶属于论文《用于将激光跟踪仪的标准反射镜（SMR）安装至机器人法兰盘的低成本支架设计与评估》。本数据集通过FARO CAM2软件生成，配套使用FARO Vantage E型激光跟踪仪，以及FARO品牌的镀金1.5英寸标准精度抗损型标准反射镜（SMR），该设备量程达60米，定心精度小于±7.6 μm。测量过程中，将SMR安装于通过胶粘固定在机器人法兰盘上的基座上，且朝向激光跟踪仪。本数据集用于通过对比自研支架与传统胶粘固定方式的偏心度与重复性，评估该自研支架的精度。
所有测量值均为毫米级的三维坐标系（x,y,z）位置数据。
作为自研支架的对照方案，本研究同时分析了传统胶粘固定的SMR安装夹具：将SMR基座尽可能贴近优傲（Universal Robots）UR5e机器人的第三腕关节中心，并将SMR安装于该基座中。通过在同一位置进行5次360°旋转、每次采集36组测量数据的方式，测得该安装方式的偏心度，最终得到平均偏心度为1.185 mm。