Eccentricity measurement of low cost laser tracker SMR to robot flange mount

This data is part of the paper: "Construction and Evaluation of a Low-Cost Laser Tracker SMR to Robot Flange Mount". It was created by using the software FARO CAM2 for the laser tracker FARO Vantage E with a 1.5" Standard Accuracy Break Resistant SMR from FARO with gold covering, a range of 60m and a centring accuracy of &lt; ±7.6µm. For the measurements the SMR is placed in the designed mount facing the laser tracker. It is used to evaluate the accuracy of the designed mount by checking its eccentricity and repeatability.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 SMR to robot flange 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. To reduce the influence of the robot joint on the measurement, several positions are used for the rotation of the last joint. It was decided to use a rotation of 15° around the elbow joint for four times in order to have five measurement positions.Multiple measurements were taken to determine the eccentricity of the designed and 3D printed SMR to robot flange mount. Five different locations were used for two independent 360° rotations with 36 measurements each. This gives a total of 360 measurements.<br><br>