(re)level robot - Part 28

[BrianClement]

DB0090 [Created: 2017-01-29 by Jonathan]

Measurements made with the new laser distance sensor indicate the frame (and hence the sample) does not maintain a constant distance from the sensors.

Careful measurments indicate that this is due to:

• the robot not being level (i.e. the XY plane is not horizontal)
• the frame is neither level (when stationary) nor parallel to therobot XY-plane

See http://umu:8888/notebooks/Projects/DiscScanner/Frame%20Deflection%20Monitoring.ipynbfor details

This needs fixing.

[BrianClement]

[John Lee - 3/02/2017 9:43:11 AM] using a machinist level, (0.02mm/m) Shimmed the bed with 3 aluminium shims (coke can). Shimming was done with the level on the distal end of the x arm. Trialed number of shimms untill the arm was level. (Frame was in home position)

then using same level flattened out the disc holder.

[BrianClement]

[John Lee - 24/02/2017 1:59:48 PM] a rolling wheel has been added to the distal end of the y arm, this will run along a track and will be used to relevel the arm. in progress