Hoevenaars, Antonius (2015): Wrench Measurements on a Planar, Passive, 4-DoF Parallel Mechanism with Two End-Effectors. Version 1. 4TU.ResearchData. dataset. https://doi.org/10.4121/uuid:d40eaac1-08aa-42ef-9c14-fae37d38e131

Dataset

• Electrical and Electronic Engineering

force, Jacobian analysis, mechanics, moment, parallel manipulator, parallel mechanism, passive mechanism, planar, PM2E, PMCP, precision and microsystems engineering, robotics, screw theory, stiffness, stiffness analysis, torque, wrench

4TU General Terms of Use

• 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

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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 two end-effectors and non-redundant legs. Measurements have been performed over the workspace of a passive planar 4-DoF mechanism with two end-effectors. The mechanism has four RPR legs, which are connected to the base, while in addition two RRR chains internally connect the two end-effectors and the terminal links of the three legs. The mechanism is described as 4-DoF, because rotation of both end-effectors is not considered. This rotation is free due to the collocation of joints at the end-effector, which means that no moments can be applied on the end-effectors by the mechanism. Rotation was therefore not considered in the analysis. The dataset is stored as a tab-delimited ASCII file. The dataset consists of planar force measurements on both the first end-effector (EE1) and the second end-effector (EE2). As such, the resulting 4-dimensional measurement vectors contain the force components, f_{x,EE1}, f_{y,EE1}, f_{x,EE2} and f_{y,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 five arrays, where the first array describes the force measurement at a reference pose, followed by four arrays that describe the planar wrench measurements at a 5 mm displacement of the first end-effector (EE1) along the X-axis, a 5 mm displacement of the second end-effector (EE2) along X-axis, a 5 mm displacement of EE1 along the Y-axis, and a 5 mm displacement of EE2 along the Y-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. The pose of EE1 is defined by p_{x,EE1} and p_{y,EE1}, while that of EE2 is defined by p_{x,EE2} and p_{y,EE2}. Rotation of both end-effectors was held constant at zero degrees so that the measurement frame was aligned with the inertial frame. 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.

• 2015-11-23 first online, published, posted

TU Delft

media types: text/plain

• https://doi.org/10.1115/1.4032204

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