cff-version: 1.2.0
abstract: "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."
authors:
  - family-names: Hoevenaars
    given-names: Antonius
    orcid: "https://orcid.org/0000-0002-4448-2289"
title: "Wrench Measurements on a Spatial, Passive, 1-DoF, 3-RRR Parallel Mechanism"
keywords:
version: 1
identifiers:
  - type: doi
    value: 10.4121/uuid:4958e3c0-7018-4988-8f99-f3a2b4ed9707
license: 4TU General Terms of Use
date-released: 2015-06-29