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The first is an experimental validation of a Jacobian analysis. The second is 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 spatial 2-DoF mechanism with two end-effectors. The mechanism has two RRR legs and one RRRR leg, which are connected to the base and where each second revolute joint was implemented as a compliant joint. In addition two RRR chains internally connect the two end-effectors and the terminal links of the three legs. The dataset is stored as a tab-delimited ASCII file. The dataset consists of 6-D wrench measurements on both the first end-effector (EE1) and the second end-effector (EE2). As such, the resulting 12-dimensional measurement vectors contain the moment components m_{x,EE1}, m_{y,EE1}, m_{z,EE1}, the force components f_{x,EE1}, f_{y,EE1}, f_{z,EE1}, the moment components m_{x,EE2}, m_{y,EE2}, m_{z,EE2}, and the force components f_{x,EE2}, f_{y,EE2}, f_{z,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 ten arrays, where the first array describes the wrench measurements at a reference pose, followed by nine arrays that describe the planar wrench measurements at a various dispalcements, namely 1) a -5 (minus five) mm displacement of EE1 along the X-axis and a 5 mm displacement of EE2 along the X-axis, 2) a 5 mm displacement of both EE1 and EE2 along Z-axis, 3) a 5 mm displacement of only EE2 along the X-axis, 4) a 5 mm displacement of both EE1 and EE2 along the X-axis, 5) a 5 mm displacement of EE2 along the Y-axis, 6) a 5 mm displacement of both EE1 and EE2 along the Y-axis, 7) a 5 mm displacement of EE2 along the Z-axis, 8) a 1/8 rad rotation of EE2 around its local Z-axis, and 9) a 1/8 rad rotation of both EE1 and EE2 around their local Z-axis in combination with a pose-dependent displacement of both end-effectors along the Y-axis. The pose of the mechanism was set manually, using a calliper, with estimated accuracies of 1/80 [rad] and 1/2000 [m] respectively. For each measurement, the pose of EE1 is defined by theta_{EE1}, p_{x,EE1}, p_{y,EE1}, and p_{z,EE1}, while that of EE2 is defined by theta_{EE2}, p_{x,EE2}, p_{y,EE2}, and p_{z,EE2}. 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.","descriptionType":"Abstract"}],"geoLocations":[],"fundingReferences":[],"xml":"<?xml version="1.0" encoding="UTF-8"?>
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      <creatorName nameType="Personal">Antonius Hoevenaars</creatorName>
      <givenName>Antonius</givenName>
      <familyName>Hoevenaars</familyName>
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  <titles>
    <title>Wrench Measurements on a Spatial, Passive, 2-DoF Parallel Mechanism with Two End-Effectors</title>
  </titles>
  <publisher>TU Delft</publisher>
  <publicationYear>2015</publicationYear>
  <resourceType resourceTypeGeneral="Dataset">Dataset</resourceType>
  <subjects>
    <subject subjectScheme="Australian and New Zealand Standard Research Classification (ANZSRC), 2008" classificationCode="0906">Electrical and Electronic Engineering</subject>
    <subject>Collection: 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</subject>
    <subject>Jacobian analysis</subject>
    <subject>PM2E</subject>
    <subject>PMCP</subject>
    <subject>force</subject>
    <subject>limited-DoF</subject>
    <subject>mechanics</subject>
    <subject>moment</subject>
    <subject>parallel manipulator</subject>
    <subject>parallel mechanism</subject>
    <subject>passive mechanism</subject>
    <subject>precision and microsystems engineering</subject>
    <subject>robotics</subject>
    <subject>screw theory</subject>
    <subject>spatial</subject>
    <subject>stiffness</subject>
    <subject>stiffness analysis</subject>
    <subject>torque</subject>
    <subject>wrench</subject>
  </subjects>
  <contributors>
    <contributor contributorType="Other">
      <contributorName nameType="Organizational">Department of Mechanical Engineering, Laval University</contributorName>
    </contributor>
    <contributor contributorType="Other">
      <contributorName nameType="Organizational">Dutch Technology Foundation STW [project number 12158]</contributorName>
    </contributor>
    <contributor contributorType="Other">
      <contributorName nameType="Organizational">Mechanical, Maritime and Materials Engineering, TU Delft</contributorName>
    </contributor>
    <contributor contributorType="Other">
      <contributorName nameType="Organizational">The Natural Sciences and Engineering Research Council of Canada (NSERC)</contributorName>
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    <date dateType="Issued">2015-11-23</date>
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    <description descriptionType="Abstract">This data-set was collected as part of two validation activities. The first is an experimental validation of a Jacobian analysis. The second is 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 spatial 2-DoF mechanism with two end-effectors. The mechanism has two RRR legs and one RRRR leg, which are connected to the base and where each second revolute joint was implemented as a compliant joint. In addition two RRR chains internally connect the two end-effectors and the terminal links of the three legs.

The dataset is stored as a tab-delimited ASCII file. The dataset consists of 6-D wrench measurements on both the first end-effector (EE1) and the second end-effector (EE2). As such, the resulting 12-dimensional measurement vectors contain the moment components m_{x,EE1}, m_{y,EE1}, m_{z,EE1}, the force components f_{x,EE1}, f_{y,EE1}, f_{z,EE1}, the moment components m_{x,EE2}, m_{y,EE2}, m_{z,EE2}, and the force components f_{x,EE2}, f_{y,EE2}, f_{z,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 ten arrays, where the first array describes the wrench measurements at a reference pose, followed by nine arrays that describe the planar wrench measurements at a various dispalcements, namely 1) a -5 (minus five) mm displacement of EE1 along the X-axis and a 5 mm displacement of EE2 along the X-axis, 2) a 5 mm displacement of both EE1 and EE2 along Z-axis, 3) a 5 mm displacement of only EE2 along the X-axis, 4) a 5 mm displacement of both EE1 and EE2 along the X-axis, 5) a 5 mm displacement of EE2 along the Y-axis, 6) a 5 mm displacement of both EE1 and EE2 along the Y-axis, 7) a 5 mm displacement of EE2 along the Z-axis, 8) a 1/8 rad rotation of EE2 around its local Z-axis, and 9) a 1/8 rad rotation of both EE1 and EE2 around their local Z-axis in combination with a pose-dependent displacement of both end-effectors along the Y-axis. 

The pose of the mechanism was set manually, using a calliper, with estimated accuracies of 1/80 [rad] and 1/2000 [m] respectively. For each measurement, the pose of EE1 is defined by theta_{EE1}, p_{x,EE1}, p_{y,EE1}, and p_{z,EE1}, while that of EE2 is defined by theta_{EE2}, p_{x,EE2}, p_{y,EE2}, and p_{z,EE2}. 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.</description>
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