Eccentricity measurement after heat treatment of a low-cost mount for attaching a laser tracker's SMR to arobot 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 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. 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 mount for attaching a laser tracker's SMR to a robot flange. Five different locations were used for two independent 360° rotations with 36 measurements each. This gives a total of 360 measurements.本数据集隶属于论文《将激光跟踪仪标准反射镜（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，实验配套设备包括FARO Vantage E型激光跟踪仪，以及FARO公司出品的镀金1.5英寸高精度抗损球装反射镜（SMR），该设备测量量程达60米，中心定位精度为[原文缺失内容]；所有测量值均为以毫米（mm）为单位的三维直角坐标系（x,y,z）位置数据。为评估所设计支架的偏心量，本研究开展了如下实验：利用机器人末端关节带动支架与SMR完成360°旋转，并通过激光跟踪仪进行测量。该关节以10°为步距进行旋转，每停驻一次即采集一组静态测量数据点，随后启动激光跟踪仪完成数据采集。完成一整圈旋转后，即可获得36组测量数据点。所拟合圆的直径随偏心量变化而改变。为削弱机器人关节对测量结果的影响，实验选取多个位置开展末端关节旋转测量。最终确定方案为：在肘关节处完成4次15°旋转，以此获得5组测量位置。本研究通过多次测量，以确定所设计并3D打印的、用于将激光跟踪仪SMR安装至机器人法兰盘的支架的偏心量。针对5个不同位置，分别开展2组独立的360°旋转测量，每组包含36次测量。综上，本次实验总计获得360组测量数据。