cff-version: 1.2.0
abstract: "This data-set was collected as part of two validation activities. The first is an experimental validation of a Jacobian analysis. The second is the experimental validation of a Jacobian-based stiffness analysis for parallel manipulators with two end-effectors and non-redundant legs. Measurements have been performed over the workspace of a passive spatial 2-DoF mechanism with two end-effectors. The mechanism has two RRR legs and one RRRR leg, which are connected to the base and where each second revolute joint was implemented as a compliant joint. In addition two RRR chains internally connect the two end-effectors and the terminal links of the three legs.

The dataset is stored as a tab-delimited ASCII file. The dataset consists of 6-D wrench measurements on both the first end-effector (EE1) and the second end-effector (EE2). As such, the resulting 12-dimensional measurement vectors contain the moment components m_{x,EE1}, m_{y,EE1}, m_{z,EE1}, the force components f_{x,EE1}, f_{y,EE1}, f_{z,EE1}, the moment components m_{x,EE2}, m_{y,EE2}, m_{z,EE2}, and the force components f_{x,EE2}, f_{y,EE2}, f_{z,EE2}. 

The data has been separated in six subsets of measurements, where each subset is marked by a letter in the first column. Each subset consists of ten arrays, where the first array describes the wrench measurements at a reference pose, followed by nine arrays that describe the planar wrench measurements at a various dispalcements, namely 1) a -5 (minus five) mm displacement of EE1 along the X-axis and a 5 mm displacement of EE2 along the X-axis, 2) a 5 mm displacement of both EE1 and EE2 along Z-axis, 3) a 5 mm displacement of only EE2 along the X-axis, 4) a 5 mm displacement of both EE1 and EE2 along the X-axis, 5) a 5 mm displacement of EE2 along the Y-axis, 6) a 5 mm displacement of both EE1 and EE2 along the Y-axis, 7) a 5 mm displacement of EE2 along the Z-axis, 8) a 1/8 rad rotation of EE2 around its local Z-axis, and 9) a 1/8 rad rotation of both EE1 and EE2 around their local Z-axis in combination with a pose-dependent displacement of both end-effectors along the Y-axis. 

The pose of the mechanism was set manually, using a calliper, with estimated accuracies of 1/80 [rad] and 1/2000 [m] respectively. For each measurement, the pose of EE1 is defined by theta_{EE1}, p_{x,EE1}, p_{y,EE1}, and p_{z,EE1}, while that of EE2 is defined by theta_{EE2}, p_{x,EE2}, p_{y,EE2}, and p_{z,EE2}. 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, 4-DoF Parallel Mechanism with Two End-Effectors and a Spatial, Passive, 2-DoF Parallel Mechanism with Two End-Effectors
Data collected as part of the experimental validation of a Jacobian analysis of a parallel mechanism with two end-effectors, as well as the experimental validation of a Jacobian-based stiffness analysis for parallel manipulators with two end-effectors."
authors:
  - family-names: Hoevenaars
    given-names: Antonius
    orcid: "https://orcid.org/0000-0002-4448-2289"
title: "Wrench Measurements on a Spatial, Passive, 2-DoF Parallel Mechanism with Two End-Effectors"
keywords:
version: 1
identifiers:
  - type: doi
    value: 10.4121/uuid:ad6762f8-d652-4ade-a329-a78196a40262
license: 4TU General Terms of Use
date-released: 2015-11-23