Wrench Measurements on a Planar, Passive, 3-DoF, 3-RPR Parallel Mechanism

Antonius 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 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...
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