Home > Published Issues > 2024 > Volume 13, No. 1, 2024 >
IJMERR 2024 Vol.13(1): 161-168
doi: 10.18178/ijmerr.13.1.161-168

Laser Scanner-Based Robotic Coordinate Measuring Machine

Vladimir Gurau *, Andy Gerhardstein, Kalvin Carruthers, and Hank Frazer
Robotics Process Development Laboratory (RPDL), Department of Manufacturing Engineering, Georgia Southern University, Statesboro, USA
Email: vgurau@georgiasouthern.edu (V.G.); ag09260@georgiasouthern.edu (A.G.); kc08656@georgiasouthern.edu (K.C.); jf05413@georgiasouthern.edu (H.F.)
*Corresponding author

Manuscript received July 18, 2023; revised September 2, 2023; accepted October 25, 2023; published February 21, 2024.

Abstract—The objectives of the research presented in this paper are to design, integrate and demonstrate a robotic Coordinate Measuring Machine (CMM) for digitizing 3D geometries of objects to be used in reverse-engineering applications. The paper describes the mathematical model, the integration of the light detection and ranging (LiDAR) sensor with the automated positioning system and the programming used to attain the technology. The digital reconstruction of an object’s 3D model is achieved by applying forward robot kinematics along with homogeneous transforms to the point cloud detected by the LiDAR. The object’s geometric features are determined using 2nd-order polynomial best fitted curves of the scanned point clouds using the bisquare fit method. The CMM uses forward robot kinematics along with homogeneous transforms to programmatically compensate for geometric positioning errors resulting from deviations in position and orientation of the CMM components during assembly and from deviations in position and orientation of the workpiece when it is located in its mounting device. The instrument is shown to reconstruct with remarkable qualitative accuracy the 3D model of a turbine blade. Using a better-quality detecting sensor, the instrument can be used as well in automated quality control and inspection applications.

Keywords—Coordinate Measuring Machine (CMM), digitization of 3D models, robotic reconstruction of 3D geometries

Cite: Vladimir Gurau, Andy Gerhardstein, Kalvin Carruthers, and Hank Frazer, "Laser Scanner-Based Robotic Coordinate Measuring Machine," International Journal of Mechanical Engineering and Robotics Research, Vol. 13, No. 1, pp. 161-168, 2024.

Copyright © 2024 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.