Robot-based dedicated measuring system with data redundancy for profile inspection

Abstract

This work presents a dedicated and automated measuring system. Dedicated systems are recommended for repetitive measurements of mechanical features. Measuring systems, however, present errors that degrade the inspection results. Such circumstances demand the application of error separation techniques so that it becomes possible to separate system induced errors from part errors. The proposed system consists of an articulated robotic arm that moves a three-probe scanning device along a workpiece. Sensor readings were recorded at intervals corresponding to the distance between sensors. An algorithm was applied to separate part straightness error and robot arm motion errors. Simulations and experimental tests were carried out to validate the proposed system.