{"data":{"id":"10.4121/uuid:7f02c528-1501-43d7-bebe-a59ca880ef10","type":"dois","attributes":{"doi":"10.4121/uuid:7f02c528-1501-43d7-bebe-a59ca880ef10","prefix":"10.4121","suffix":"uuid:7f02c528-1501-43d7-bebe-a59ca880ef10","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 Planar, Passive, 3-DoF, 3-RPR 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":"planar"},{"subject":"precision and microsystems engineering"},{"subject":"robotics"},{"subject":"screw theory"},{"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 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.","descriptionType":"Abstract"}],"geoLocations":[],"fundingReferences":[],"xml":"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