Eccentricity measurement in an angle of 45° of a low-cost mount 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 < ±7.6 µm. For the measurements the SMR is placed in the designed mount facing the laser tracker in an angle of 45°. It is used to evaluate the influence of alignment between the y- and z-axes of the laser tracker and the x and y plane of the robot flange. All measurement values are positional data in the three-dimensional coordinate system (x,y,z) in mm.In order to measure the eccentricity of the designed mount, the following experiment was carried out. The main idea is to rotate the mount and the SMR 360° using the last joint of the robot and measure it with the laser tracker. The joint is rotated in 10° increments and stopped to obtain a static measurement point. A laser tracker measurement is initiated. After a full rotation, 36 data points are available. The diameter of the resulting circle varies with eccentricity.