20.500.12556/RUL-135706 Impact of a robot manipulation on the dimensional measurements in an SPC-based robot cell In our study a robot was used to deliver objects for measurement into the Equator gauging system. To investigate the robot’s manipulation influence on dimensional measurements, the robot’s tasks were divided into basic functions. Based on these basic functions, nine different robotmanipulation scenarios were defined, i.e., from zero to full robot manipulation, for two measuring objects (named Magnet and PKR) and six measurement characteristics (rectangular and spherical). The robot’s manipulation influence was determined on the basis of the statistical parameters C$_p$, R, and the 6$_σ$ obtained from a measurement system analysis (MSA) type-1 study. The results show that the degree of implemented manipulation of the robot affects the scattering of the measurement data. However, the effect is much more pronounced in the case of length measurements than with spherical geometries. Different measuring methods (touch-triggering or scanning measurement mode, number of sampling points) were used, which showed similar measurement data. This directly indicated the influence of the robot’s manipulation on C$_p$, R and 6$_σ$. Increasing the degree of the robot’s manipulation decreases the C$_p$ value and increases the R and 6$_σ$ values for the length measurements. There is no such pronounced course in the spherical geometries, where the values of C$_p$, R and 6$_σ$ remain approximately the same. The main influential factor for decreasing the C$_p$ value with increasing robot manipulation was the angular misalignment of the object’s orientation in the fixture. CMM robots manipulation SPC dimensional measurements comparative measurements KMS roboti manipulacija SPC dimenzijske meritve primerjalne meritve true false true Angleški jezik Slovenski jezik Članek v reviji 2022-03-29 10:36:07 2022-03-29 10:36:08 2022-09-14 04:14:44 0000-00-00 00:00:00 2021 0 0 18 str. iss. 14, art. 6397 Vol. 11 Jul. 2021 0000-00-00 Zaloznikova Objavljeno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 007.52 2076-3417 10.3390/app11146397 81583107 RAZ_Zore_Ales_2021.pdf RAZ_Zore_Ales_2021.pdf 1 688D8D9D51E99102D06A1436A3F952B2 63fe84d6f531a5e9f121bbdeadfa9131b8b8437bb5b29c35453f84698a70f671 b91b8209-af3b-11ec-8aca-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=154953 https://www.mdpi.com/2076-3417/11/14/6397 1 439106b2-af3b-11ec-8aca-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=154952 Fakulteta za elektrotehniko 0 0 0