Identification data of distal and proximal wrenches for motion-force interaction performance evaluation of parallel mechanisms

The distal and proximal wrenches are foundations for motion-force interaction indices of parallel mechanisms. This paper provides the identification data of distal and proximal wrenches, which are extended from the previous work entitled "an evaluation approach for motion-force interaction performance of parallel manipulators with closed-loop passive limbs" with the publication of Mechanism and Machine Theory. The parallel manipulators involved are divided into two categories: one is with closed-loop subchains (or named closed-loop passive limbs), and the other is without closed-loop subchains. All distal and proximal wrenches are identified by the blocking-and-actuating strategy proposed in our previous work. The wrenches data in this paper are very useful for understanding the evaluation approach of the motion-force interaction performance. The identified distal and proximal wrenches can be adopted directly to calculate DII (i.e., the distal interaction index) and PII (i.e., the proximal interaction index) of the parallel manipulators under study. With help of the provided data, motion-force interaction performance of investigated parallel manipulators can be analyzed and evaluated, which provides effective means for the evaluation of the essential attributes of parallel manipulators.