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

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 letter in the first column. Each subset consists of four arrays, where the first array describes the wrench measurement at a reference pose, followed by three arrays that describe the planar wrench measurements at a 5 mm displacement along the X-axis, a 5 mm displacement along Y-axis, and a rotation of 1/8 rad about the Z-axis respectively.