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Wrench Measurements on a Spatial, Passive, 1-DoF, 3-RRR Parallel Mechanism

By A.G.L. (Teun) Hoevenaars


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

Topics: spatial, passive mechanism, wrench, wrench measurements, precision and microsystems engineering, robotics, moment, parallel mechanism, torque, limited-DoF (degrees of freedom), parallel manipulator, force, stiffness analysis, mechanics, screw theory, stiffness
Publisher: TU Delft
Year: 2015
DOI identifier: 10.4121/uuid:4958e3c0-7018-4988-8f99-f3a2b4ed9707
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