# Physical Adaptation of Articulated Robotic Arm into 3D Scanning System
## 4 Discussion  
Based on the presented results, the physical adaptation of an articulated robotic arm and the integration of a handheld optical 3D scanner can be successfully realized with low-cost investments. First of all, the choice of the photogrammetric method for 3D digitization is based on its minimal equipment requirements, free software for image processing, the speed of 3D digitization, and the resulting quality of the 3D model. It is also used to demonstrate the strength, flexibility, and simplicity of the 3D digitization method. Additionally, the potential issues with camera stability and image quality, as mentioned, are reduced by using a turntable and tripod. Establishing the scale and overcoming the inherent dimensionless nature of photogrammetric 3D digitization ensure that the resulting models are dimensionally accurate [50]. The choice of Reality Capture v1.5 software for processing the images into a 3D mesh was based on a lack of literature sources and free access [51]. A small amount of scanning spray was applied to decrease the influence of surface reflection and the lack of texture of the objects before image acquisition. The software obtained dense point clouds and, after that, the 3D polygonal mesh models. Then, textures were applied to improve the realism of the models. In some fields, such as computer graphics, this is considered an \begin{table}
\begin{tabular}{c c c} \hline
**Part Name** & **Dimensions [mm]** & **Quantity** \\ \hline Star Nut Knob & \(\phi 25\times 16\) M6 & 2 \\ Cylindrical Head Socket Cap Screw & M5 \(\times\) 60 & 4 \\ Cylindrical Head Socket Cap Screw & M4 \(\times\) 10 & 4 \\ Hexagon Head Bolt & M6 \(\times\) 60 & 2 \\ T Nut & M4 & 4 \\ Hexagon Nut & M5 & 4 \\ Plain Washer & For M5 screw & 4 \\ \hline \end{tabular}
\end{table} 
Table 2: Other standard parts used for gripper assembly (3D models, source 3 Dfindit [40]). Figure 13: Adopted Mitsubishi articulated robotic arm: (**a**) digital twin; (**b**) real system. advantage, but from a geometric point of view, texture does not influence the accuracy of the models. Post-processing to address the presence of noise and undesired geometry from the environment, with the goal of their elimination, was conducted. The design intent approach was used for RE to transform a 3D mesh model into a fully detailed and functional CAD model. This step is critical because the size and orientation of geometric elements based on the reference mesh must be assumed. Validation of geometric accuracy was conducted through CAI, which is one of the state-of-the-art methods for validation and comparative analysis. Special attention was given to ensuring accuracy in the design of the robotic arm's end, which required precision for functional compatibility. Also, the arrangement of the M4 threaded holes as per the Standard Specifications Manual was created [41]. 3 Dfindit has proven to be a very useful engineering tool for reducing the search time for existing products, but also for the modification and rapid adaptation of existing ones. The types of searches it offers are very diverse, as are the different formats in which models can be downloaded for free. Another great advantage of the 3 Dfindit platform is that the user can store the created modified 3D model in the database so that other users can also benefit from it. The detected interference regions (Figure 11) ensure a satisfactory contact area between the jaws and the 3D scanner, when the jaws are fully closed. The maximal overlap thickness of 0.15 mm in interference regions guarantees acceptable clamping force. The jaw 3D modeling approach can be easily applied to other types of mobile handheld 3D scanners without changes in the workflow steps. Finally, by applying additive manufacturing technologies, a fully functional product can be produced in a very short time. The FDM 3D printing technique is ideal for the rapid and cost-effective prototyping of medium-complexity components, such as gripper jaws.