Design and Evaluation of a Low-Cost Mount for Attaching a Laser Tracker's SMR to a Robot Flange

Robot calibration and modelling measurements are commonly performed using a laser tracker. To capture three-dimensional positions, a SMR is attached to the robot. While some researchers employ adhesive bonds for this purpose, such methods often result in inaccurate, unstable and non-repeatable SMR positioning, adversely affecting measurement precision and the traceability of research outcomes. To address these challenges, we investigated alternative methods for attaching an SMR to a robot's flange to achieve both accuracy and repeatability. Additionally, we analysed measurement errors introduced when using a tool to attach the SMR to the flange. As a solution, we developed a 3D-printed mount designed for attachment to the flange. The mount's accuracy was evaluated by assessing its eccentricity and the repeatability of the SMR placement. Experimental results demonstrated that the mount achieved an eccentricity radius of 0.35 mm and repeatability inaccuracies of X=0.075mm, Y=0.328mm, and Z=0.485mm. These values indicate that the mount provides sufficient accuracy to support calibration processes, ensures research traceability, and serves as a viable replacement for adhesive bonds.