{"data":{"id":"10.4121/uuid:4958e3c0-7018-4988-8f99-f3a2b4ed9707","type":"dois","attributes":{"doi":"10.4121/uuid:4958e3c0-7018-4988-8f99-f3a2b4ed9707","prefix":"10.4121","suffix":"uuid:4958e3c0-7018-4988-8f99-f3a2b4ed9707","identifiers":[],"alternateIdentifiers":[],"creators":[{"name":"Hoevenaars, Antonius","nameType":"Personal","givenName":"Antonius","familyName":"Hoevenaars","nameIdentifiers":[{"nameIdentifier":"0000-0002-4448-2289","nameIdentifierScheme":"https://orcid.org/"}],"affiliation":[]}],"titles":[{"title":"Wrench Measurements on a Spatial, Passive, 1-DoF, 3-RRR Parallel Mechanism"}],"publisher":"TU Delft","container":{},"publicationYear":2015,"subjects":[{"subject":"Mechanical Engineering","subjectScheme":"Australian and New Zealand Standard Research Classification (ANZSRC), 2008","classificationCode":"0913"},{"subject":"FOS: Mechanical engineering","schemeUri":"http://www.oecd.org/science/inno/38235147.pdf","subjectScheme":"Fields of Science and Technology (FOS)"},{"subject":"Collection: Wrench Measurements on a Planar, Passive, 3-DoF, 3-RPR Parallel Mechanism and a Spatial, Passive, 1-DoF, 3-RRR Parallel Mechanism"},{"subject":"force"},{"subject":"limited-DoF (degrees of freedom)"},{"subject":"mechanics"},{"subject":"moment"},{"subject":"parallel manipulator"},{"subject":"parallel mechanism"},{"subject":"passive mechanism"},{"subject":"precision and microsystems engineering"},{"subject":"robotics"},{"subject":"screw theory"},{"subject":"spatial"},{"subject":"stiffness"},{"subject":"stiffness analysis"},{"subject":"torque"},{"subject":"wrench"},{"subject":"wrench measurements"}],"contributors":[{"name":"Department Of Mechanical Engineering, Laval University","nameType":"Organizational","affiliation":[],"contributorType":"Other","nameIdentifiers":[]},{"name":"Dutch Technology Foundation STW [Project Number 12158]","nameType":"Organizational","affiliation":[],"contributorType":"Other","nameIdentifiers":[]},{"name":"Mechanical, Maritime And Materials Engineering, TU Delft","nameType":"Organizational","affiliation":[],"contributorType":"Other","nameIdentifiers":[]},{"name":"TU Delft, Faculty Of Mechanical, Maritime And Materials Engineering","nameType":"Organizational","affiliation":[],"contributorType":"Other","nameIdentifiers":[]},{"name":"The Natural Sciences And Engineering Research Council Of Canada (NSERC)","nameType":"Organizational","affiliation":[],"contributorType":"Other","nameIdentifiers":[]}],"dates":[{"date":"2015-06-29","dateType":"Issued"}],"language":"en","types":{"ris":"DATA","bibtex":"misc","citeproc":"dataset","schemaOrg":"Dataset","resourceType":"Dataset","resourceTypeGeneral":"Dataset"},"relatedIdentifiers":[],"relatedItems":[],"sizes":[],"formats":["media types: text/plain"],"version":"1","rightsList":[{"rights":"4TU General Terms of Use","rightsUri":"https://doi.org/10.4121/resource:terms_of_use"}],"descriptions":[{"description":"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.","descriptionType":"Abstract"}],"geoLocations":[],"fundingReferences":[],"xml":"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