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Processed measurement data of the experimental study of the cushion stiffness - a component of a hybrid soft-rigid gripper jaw

Version 1.0

Białek, Marcin, 2024, "Processed measurement data of the experimental study of the cushion stiffness - a component of a hybrid soft-rigid gripper jaw", https://doi.org/10.18150/2ZXUYC, RepOD, V1

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Description

DESCRIPTION:

The dataset consists of measurements of experimental studies of stiffness during plunging the pin into the cushions (soft-rigid robotic jaw fignertip) and soft-rigid robotic jaw (Fig. 1).

The measurement system consists of a Panasonic HG-C1100/HL-G112 laser distance sensor and a HBM U9C force sensor mounted on a linear actuator with a stepper motor (Fig. 2).

Studies were conducted for different fillings and cushion geometries (Fig. 3, "dataset_1.csv"), as well as for two different springs in the jaw mechanism (Fig. 4,"dataset_2.csv").


LICENSE:

The data are under Creative Commons License CC BY. It is though recommended to manipulate along with the author to fully understand the outcomes. If you have any questions do not hesitate to contact: marcin.bialek@put.poznan.pl


This research was funded by the National Science Centre, Poland grant number: 2021/41/N/ST8/02619. https://ror.org/03ha2q922


FILES:

"dataset_1.csv" - processed measurement data obtained during the experiment - cushion stiffness measurement

"dataset_2.csv" - processed measurement data obtained during the experiment - measuring the reaction of the jaw with an MR fluid filled cushion and a spring-permanent magnet mechanism.


For proper interpretation, please refer to the images provided below.


COLUMNS in "dataset_1.csv":      

       - Fingertip[-] - type of the cushion determined by its filling, which was placed on the fingertip (please check the table below for more details);

       - Sample[-] - sample number for each object configuration;

       - Time[s] - the measurement time at which the force was recorded;

       - PosSM[] - the set position of the linear drive moving the force sensor;

       - Distance[mm] - the value of the displacement of the plunger (force sensor), measured with a Panasonic sensor HG-C1100/HL-G112;

       - Force[N] - the value of the force exerted by the plunger (force sensor) into the cushion, measured with HBM U9C.


COLUMNS in "dataset_2.csv":

       - Spring[-] - type of the spring determined by its parameters (please check the table below for more details);

       - Sample[-] - sample number for each object configuration;

       - Time[s] - the measurement time at which the force was recorded;

       - PosSM[] - the set position of the linear drive moving the force sensor;

       - Distance[mm] - the value of the displacement of the plunger (force sensor), measured with a Panasonic sensor HG-C1100/HL-G112;

       - Force[N] - the value of the force exerted by the plunger (force sensor) into the cushion, measured with HBM U9C.


(2024-01-19)
Subject
Engineering
Keyword

Mechatronics, Gripper, magnetorheological fluid (MRF)

Related Publication

The dataset is a supplement to the article that will soon be submitted for review. This section will be updated when accepted. :

CC BY - Creative Commons Attribution 4.0 CC BY - Creative Commons Attribution 4.0

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1 to 4 of 4 Files
dataset_1.tab
Tabular Data - Original format: Comma Separated Values - 45.1 MB - Jan 22, 2024 - 0 Downloads
License: CC BY - Creative Commons Attribution 4.0
6 Variables, 899462 Observations - UNF:6:CFY9oD1ADTlvZJRI03QrqQ==
Processed measurement data obtained during the experiment - cushion stiffness measurement. See ReadMe files first.
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dataset_2.tab
Tabular Data - Original format: Comma Separated Values - 45.1 MB - Jan 22, 2024 - 0 Downloads
License: CC BY - Creative Commons Attribution 4.0
6 Variables, 911748 Observations - UNF:6:2oD5Ps9OPp/csuiXgVSG+Q==
Processed measurement data obtained during the experiment - measuring the reaction of the jaw with an MR fluid filled cushion and a spring-permanent magnet mechanism. See ReadMe files first.
Preview
ReadMe.html
Unknown - 1.4 MB - Jan 22, 2024 - 0 Downloads
MD5: 91225d06917e88b28afc342bb58f5abb
License: CC BY - Creative Commons Attribution 4.0
A brief description of the dataset including a dictionary for its analysis. It is recommended to get familiar with this file in the first place. ReadMe.ipynb file in html format. You can open it offline in your browser.
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ReadMe.ipynb
Plain Text - 904.4 KB - Jan 22, 2024 - 1 Download
MD5: 9b9bfd32bd4252a124fe1a8eb14c70fb
License: CC BY - Creative Commons Attribution 4.0
A brief description of the dataset including a dictionary for its analysis. It is recommended to get familiar with this file in the first place. This is a Jupyter notebook written in python. Jupyter is an open-source tool for interactive data science and scientific computing. Please visit https://jupyter.org/. You can use Anaconda to open this file with Jupyter Notebook or JupyterLab. Please find installation guide here https://repo.anaconda.com/. A locally downloaded file can be opened by choosing File->Open.
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