{"data":{"id":"10.4121/uuid:d40eaac1-08aa-42ef-9c14-fae37d38e131","type":"dois","attributes":{"doi":"10.4121/uuid:d40eaac1-08aa-42ef-9c14-fae37d38e131","prefix":"10.4121","suffix":"uuid:d40eaac1-08aa-42ef-9c14-fae37d38e131","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, 4-DoF Parallel Mechanism with Two End-Effectors"}],"publisher":"TU Delft","container":{},"publicationYear":2015,"subjects":[{"subject":"Electrical and Electronic Engineering","subjectScheme":"Australian and New Zealand Standard Research Classification (ANZSRC), 2008","classificationCode":"0906"},{"subject":"FOS: Electrical engineering, electronic engineering, information 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, 4-DoF Parallel Mechanism with Two End-Effectors and a Spatial, Passive, 2-DoF Parallel Mechanism with Two End-Effectors"},{"subject":"Jacobian analysis"},{"subject":"PM2E"},{"subject":"PMCP"},{"subject":"force"},{"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"}],"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":"The Natural Sciences And Engineering Research Council Of Canada (NSERC)","nameType":"Organizational","affiliation":[],"contributorType":"Other","nameIdentifiers":[]}],"dates":[{"date":"2015-11-23","dateType":"Issued"}],"language":"en","types":{"ris":"DATA","bibtex":"misc","citeproc":"dataset","schemaOrg":"Dataset","resourceType":"Dataset","resourceTypeGeneral":"Dataset"},"relatedIdentifiers":[{"relationType":"References","relatedIdentifier":"https://doi.org/10.1115/1.4032204","relatedIdentifierType":"URL"}],"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 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.","descriptionType":"Abstract"}],"geoLocations":[],"fundingReferences":[],"xml":"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