Hoevenaars, Antonius (2015): Wrench Measurements on a Spatial, Passive, 1-DoF, 3-RRR Parallel Mechanism. Version 1. 4TU.ResearchData. dataset. https://doi.org/10.4121/uuid:4958e3c0-7018-4988-8f99-f3a2b4ed9707

Dataset

• Mechanical Engineering

force, limited-DoF (degrees of freedom), mechanics, moment, parallel manipulator, parallel mechanism, passive mechanism, precision and microsystems engineering, robotics, screw theory, spatial, stiffness, stiffness analysis, torque, wrench, wrench measurements

4TU General Terms of Use

• Wrench Measurements on a Planar, Passive, 3-DoF, 3-RPR Parallel Mechanism and a Spatial, Passive, 1-DoF, 3-RRR Parallel Mechanism

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by Antonius Hoevenaars

This data-set was collected as part of the experimental validation of a Jacobian-based stiffness analysis for parallel manipulators with non-redundant legs. The dataset is stored as a tab-delimited ASCII file. The dataset consists of spatial wrench measurements (6-dimensional vectors containing a moment vector, [m_x, m_y, m_z], and a force vector [f_x, f_y, f_z]) over the workspace of a spatial, 1-DoF, 3-RRR mechanism. The data set consists of six subsets of measurements, where each subset is marked by a letter in the first column. Each subset consists of five arrays, where the first array describes the wrench measurement at a reference pose, followed by four arrays that describe the planar wrench measurements at a 5 mm displacement along the X-axis, a 5 mm displacement along Y-axis, a 5 mm displacement along Z-axis, and a rotation of 1/8 rad about the Z-axis respectively. The pose of the mechanism was set manually, using a calliper, with estimated accuracies of 1/80 [rad] and 1/2000 [m] respectively. Wrench measurements were performed using an ATI mini40 sensor with SI-40-2 calibration, with maximum resolution of 1/4000 [Nm] and 1/100 [N] respectively. Parent item: Wrench Measurements on a Planar, Passive, 3-DoF, 3-RPR Parallel Mechanism and a Spatial, Passive, 1-DoF, 3-RRR Parallel Mechanism Data collected as part of the experimental validation of a Jacobian-based stiffness analysis for parallel manipulators with non-redundant legs.

• 2015-06-29 first online, published, posted

TU Delft

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Department of Mechanical Engineering, Laval University;
Dutch Technology Foundation STW [project number 12158];
Mechanical, Maritime and Materials Engineering, TU Delft;
TU Delft, Faculty of Mechanical, Maritime and Materials Engineering;
The Natural Sciences and Engineering Research Council of Canada (NSERC)