Wrench Measurements on a Planar, Passive, 3-DoF, 3-RPR Parallel Mechanism

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 planar wrench measurements (3-dimensional vectors containing a moment, m_z, and two force components, f_x and f_y) over the workspace of a planar, 3-DoF, 3-RPR mechanism. The data set consists of eight subsets of measurements, where each subset is marked by a letter in the first column. Each subset consists of four arrays, where the first array describes the wrench measurement at a reference pose, followed by three arrays that describe the planar wrench measurements at a 5 mm displacement along the X-axis, a 5 mm displacement along Y-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.