Wrench Measurements on a Planar, Passive, 4-DoF Parallel Mechanism with Two End-Effectors

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.