Wrench Measurements on a Spatial, Passive, 1-DoF, 3-RRR Parallel Mechanism
datasetposted on 29.06.2015, 00:00 authored by Antonius HoevenaarsAntonius 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.
ContributorsDepartment 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)
Formatmedia types: text/plain
Collection: Wrench Measurements on a Planar, Passive, 3-DoF, 3-RPR Parallel Mechanism and a Spatial, Passive, 1-DoF, 3-RRR Parallel Mechanismforcelimited-DoF (degrees of freedom)mechanicsmomentparallel manipulatorparallel mechanismpassive mechanismprecision and microsystems engineeringroboticsscrew theoryspatialstiffnessstiffness analysistorquewrenchwrench measurements