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| 1 | = Inertial Tensors and Mass Properties for the BarrettHand BH8-280 = |
| 2 | |
| 3 | == Mass Properties for Frame W (hand base frame) with palm pad == |
| 4 | |
| 5 | [[Image(HandFrameW_NoDialog_crop.jpg)]] |
| 6 | |
| 7 | Output coordinate System: Frame W (opaque) |
| 8 | |
| 9 | Mass = 0.58875 kilograms |
| 10 | |
| 11 | Volume = 0.00019531 cubic meters |
| 12 | |
| 13 | Surface area = 0.22323 square meters |
| 14 | |
| 15 | Center of mass (meters): |
| 16 | || X = 5.1703e-005 || Y = -0.0046167 || Z = 0.037783 || |
| 17 | |
| 18 | Principal axes of inertia and principal moments of inertia: (kilograms * square meters) |
| 19 | |
| 20 | Taken at the center of mass. |
| 21 | || I = (0.002589, 0.91632, -0.40043) || P = 0.0004585 || |
| 22 | || I = (0.012313, -0.40043, -0.91624) || P = 0.00063093 || |
| 23 | || I = (-0.99992, -0.0025583, -0.012319) || P = 0.00068112 || |
| 24 | |
| 25 | Moments of inertia: (kilograms * square meters) |
| 26 | |
| 27 | Taken at the center of mass and aligned with the output coordinate system. |
| 28 | || Lx = 0.00068111 || Ly = 2.8066e-007 || Lz = -7.9704e-007 || |
| 29 | || Lx = 2.8066e-007 || Ly = 0.00048615 || Lz = -6.327e-005 || |
| 30 | || Lx = -7.9704e-007 || Ly = -6.327e-005 || Lz = 0.00060329 || |
| 31 | |
| 32 | Moments of inertia (kilograms * square meters), taken at the output coordinate system: |
| 33 | || Ix = 0.0015341 || Iy = 1.4013e-007 || Iz = 3.5309e-007 |
| 34 | || Ix = 1.4013e-007 || Iy = 0.0013266 || Iz = -0.00016597 |
| 35 | || Ix = 3.5309e-007 || Iy = -0.00016597 || Iz = 0.00061584 |
| 36 | |
| 37 | |
| 38 | == Mass Properties for Frame W (hand base frame) without palm pad == |
| 39 | |
| 40 | [[Image(HandFrameW_NOPP_NoDialog_crop.jpg)]] |
| 41 | |
| 42 | Output coordinate System: Frame W (opaque) |
| 43 | |
| 44 | Mass = 0.57591 kilograms |
| 45 | |
| 46 | Volume = 0.00018593 cubic meters |
| 47 | |
| 48 | Surface area = 0.20677 square meters |
| 49 | |
| 50 | Center of mass (meters): |
| 51 | X = 5.2857e-005 Y = -0.0052276 Z = 0.037177 |
| 52 | |
| 53 | Principal axes of inertia and principal moments of inertia (kilograms * square meters), taken at the center of mass: |
| 54 | || I = (0.0027985, 0.90135, -0.43308) || P = 0.00043742 |
| 55 | || I = (0.016034, -0.43307, -0.90122) || P = 0.00061862 |
| 56 | || I = (-0.99987, -0.0044222, -0.015665) || P = 0.00065431 |
| 57 | |
| 58 | Moments of inertia (kilograms * square meters), taken at the center of mass and aligned with the output coordinate system: |
| 59 | || Lx = 0.0006543 || Ly = 2.9926e-007 || Lz = -7.786e-007 |
| 60 | || Lx = 2.9926e-007 || Ly = 0.00047141 || Lz = -7.0735e-005 |
| 61 | || Lx = -7.786e-007 || Ly = -7.0735e-005 || Lz = 0.00058465 |
| 62 | |
| 63 | Moments of inertia (kilograms * square meters), taken at the output coordinate system: |
| 64 | || Ix = 0.001466 || Iy = 1.4013e-007 || Iz = 3.5309e-007 |
| 65 | || Ix = 1.4013e-007 || Iy = 0.0012674 || Iz = -0.00018266 |
| 66 | || Ix = 3.5309e-007 || Iy = -0.00018266 || Iz = 0.00060039 |
| 67 | |
| 68 | |
| 69 | |
| 70 | == Mass Properties for Frame 1 (finger spread frame) == |
| 71 | |
| 72 | Output coordinate System: F1 (opaque) |
| 73 | |
| 74 | Mass = 0.14109 kilograms |
| 75 | |
| 76 | Volume = 3.919e-005 cubic meters |
| 77 | |
| 78 | Surface area = 0.058268 square meters |
| 79 | |
| 80 | Center of mass (meters): |
| 81 | X = 0.030616 Y = -7.3219e-005 Z = -0.011201 |
| 82 | |
| 83 | Principal axes of inertia and principal moments of inertia (kilograms * square meters), taken at the center of mass: |
| 84 | || I = (-0.99149, -0.0047957, -0.13013) || P = 1.9838e-005 |
| 85 | || I = (0.13011, 0.0033343, -0.99149) || P = 6.904e-005 |
| 86 | || I = (0.0051888, -0.99998, -0.0026819) || P = 7.4106e-005 |
| 87 | |
| 88 | Moments of inertia (kilograms * square meters), taken at the center of mass and aligned with the output coordinate system: |
| 89 | || Lx = 2.0672e-005 || Ly = 2.6024e-007 || Lz = 6.3481e-006 |
| 90 | || Lx = 2.6024e-007 || Ly = 7.4105e-005 || Lz = 1.7118e-008 |
| 91 | || Lx = 6.3481e-006 || Ly = 1.7118e-008 || Lz = 6.8207e-005 |
| 92 | |
| 93 | Moments of inertia (kilograms * square meters), taken at the output coordinate system: |
| 94 | || Ix = 3.8374e-005 || Iy = -5.604e-008 || Iz = -4.2034e-005 |
| 95 | || Ix = -5.604e-008 || Iy = 0.00022405 || Iz = 1.3283e-007 |
| 96 | || Ix = -4.2034e-005 || Iy = 1.3283e-007 || Iz = 0.00020045 |
| 97 | |
| 98 | == Mass Properties for Frame 2 (finger inner link frame) without fingertip torque sensor == |
| 99 | |
| 100 | Output coordinate System: F2_Origin |
| 101 | |
| 102 | Mass = 0.05832 kilograms |
| 103 | |
| 104 | Volume = 1.629e-005 cubic meters |
| 105 | |
| 106 | Surface area = 0.026068 square meters |
| 107 | |
| 108 | Center of mass (meters): |
| 109 | X = 0.022042 Y = 0.00082603 Z = 0.0005526 |
| 110 | |
| 111 | Principal axes of inertia and principal moments of inertia (kilograms * square meters), taken at the center of mass: |
| 112 | || I = (-0.99971, -0.016746, 0.017324) || P = 4.7372e-006 |
| 113 | || I = (0.016611, -0.99983, -0.007873) || P = 4.1939e-005 |
| 114 | || I = (0.017453, -0.0075829, 0.99982) || P = 4.3077e-005 |
| 115 | |
| 116 | Moments of inertia (kilograms * square meters), taken at the center of mass and aligned with the output coordinate system: |
| 117 | || Lx = 4.7592e-006 || Ly = 6.2295e-007 || Lz = -6.6417e-007 |
| 118 | || Lx = 6.2295e-007 || Ly = 4.1929e-005 || Lz = -2.1644e-009 |
| 119 | || Lx = -6.6417e-007 || Ly = -2.1644e-009 || Lz = 4.3066e-005 |
| 120 | |
| 121 | Moments of inertia (kilograms * square meters), taken at the output coordinate system: |
| 122 | || Ix = 4.8168e-006 || Iy = 1.6848e-006 || Iz = 4.6191e-008 |
| 123 | || Ix = 1.6848e-006 || Iy = 7.0281e-005 || Iz = 2.4457e-008 |
| 124 | || Ix = 4.6191e-008 || Iy = 2.4457e-008 || Iz = 7.144e-005 |
| 125 | |
| 126 | |
| 127 | == Mass Properties for Frame 2 (finger inner link frame) with fingertip torque sensor == |
| 128 | |
| 129 | Output coordinate System: F2_Origin |
| 130 | |
| 131 | Mass = 0.062139 kilograms |
| 132 | |
| 133 | Volume = 1.7634e-005 cubic meters |
| 134 | |
| 135 | Surface area = 0.028654 square meters |
| 136 | |
| 137 | Center of mass (meters): |
| 138 | X = 0.023133 Y = 0.00078642 Z = 0.00052792 |
| 139 | |
| 140 | Principal axes of inertia and principal moments of inertia (kilograms * square meters), taken at the center of mass: |
| 141 | || I = (-0.99972, -0.015048, 0.018278) || P = 4.7942e-006 |
| 142 | || I = (0.014917, -0.99986, -0.0073066) || P = 4.3325e-005 |
| 143 | || I = (0.018386, -0.0070319, 0.99981) || P = 4.4454e-005 |
| 144 | |
| 145 | Moments of inertia (kilograms * square meters), taken at the center of mass and aligned with the output coordinate system: |
| 146 | || Lx = 4.8162e-006 || Ly = 5.7981e-007 || Lz = -7.2483e-007 |
| 147 | || Lx = 5.7981e-007 || Ly = 4.3317e-005 || Lz = -2.6653e-009 |
| 148 | || Lx = -7.2483e-007 || Ly = -2.6653e-009 || Lz = 4.4441e-005 |
| 149 | |
| 150 | Moments of inertia (kilograms * square meters), taken at the output coordinate system: |
| 151 | || Ix = 4.872e-006 || Iy = 1.7103e-006 || Iz = 3.4041e-008 |
| 152 | || Ix = 1.7103e-006 || Iy = 7.6588e-005 || Iz = 2.3133e-008 |
| 153 | || Ix = 3.4041e-008 || Iy = 2.3133e-008 || Iz = 7.7733e-005 |
| 154 | |
| 155 | |
| 156 | == Mass Properties for Frame 3 (fingertip frame) without fingertip pressure pad == |
| 157 | |
| 158 | Output coordinate System: F3 (opaque) |
| 159 | |
| 160 | Mass = 0.041377 kilograms |
| 161 | |
| 162 | Volume = 1.5627e-005 cubic meters |
| 163 | |
| 164 | Surface area = 0.019684 square meters |
| 165 | |
| 166 | Center of mass (meters): |
| 167 | X = 0.022825 Y = 0.0010491 Z = 0.00042038 |
| 168 | |
| 169 | Principal axes of inertia and principal moments of inertia (kilograms * square meters), taken at the center of mass: |
| 170 | || I = (-0.99921, -0.032055, 0.023536) || P = 3.0842e-006 |
| 171 | || I = (0.023767, -0.0068431, 0.99969) || P = 1.568e-005 |
| 172 | || I = (-0.031884, 0.99946, 0.0075995) || P = 1.6826e-005 |
| 173 | |
| 174 | Moments of inertia (kilograms * square meters), taken at the center of mass and aligned with the output coordinate system: |
| 175 | || Lx = 3.1053e-006 || Ly = 4.3996e-007 || Lz = -2.9595e-007 |
| 176 | || Lx = 4.3996e-007 || Ly = 1.6812e-005 || Lz = -1.8205e-008 |
| 177 | || Lx = -2.9595e-007 || Ly = -1.8205e-008 || Lz = 1.5673e-005 |
| 178 | |
| 179 | Moments of inertia (kilograms * square meters), taken at the output coordinate system: |
| 180 | || Ix = 3.1582e-006 || Iy = 1.4308e-006 || Iz = 1.0106e-007 |
| 181 | || Ix = 1.4308e-006 || Iy = 3.8376e-005 || Iz = 0 |
| 182 | || Ix = 1.0106e-007 || Iy = 0 || Iz = 3.7275e-005 |
| 183 | |
| 184 | |
| 185 | == Mass Properties for Frame 3 (fingertip frame) with fingertip pressure pad == |
| 186 | |
| 187 | Output coordinate System: F3 (opaque) |
| 188 | |
| 189 | Mass = 0.04166 kilograms |
| 190 | |
| 191 | Volume = 1.5911e-005 cubic meters |
| 192 | |
| 193 | Surface area = 0.02168 square meters |
| 194 | |
| 195 | Center of mass (meters): |
| 196 | X = 0.02295 Y = 0.0010739 Z = 0.00041752 |
| 197 | |
| 198 | Principal axes of inertia and principal moments of inertia (kilograms * square meters), taken at the center of mass: |
| 199 | || I = (-0.99919, -0.032581, 0.023483) || P = 3.0982e-006 |
| 200 | || I = (0.023724, -0.0070039, 0.99969) || P = 1.5816e-005 |
| 201 | || I = (-0.032406, 0.99944, 0.0077712) || P = 1.6962e-005 |
| 202 | |
| 203 | Moments of inertia (kilograms * square meters), taken at the center of mass and aligned with the output coordinate system: |
| 204 | || Lx = 3.1199e-006 || Ly = 4.5115e-007 || Lz = -2.9813e-007 |
| 205 | || Lx = 4.5115e-007 || Ly = 1.6948e-005 || Lz = -1.8635e-008 |
| 206 | || Lx = -2.9813e-007 || Ly = -1.8635e-008 || Lz = 1.5809e-005 |
| 207 | |
| 208 | Moments of inertia (kilograms * square meters), taken at the output coordinate system: |
| 209 | || Ix = 3.1752e-006 || Iy = 1.4779e-006 || Iz = 1.0106e-007 |
| 210 | || Ix = 1.4779e-006 || Iy = 3.8897e-005 || Iz = 0 |
| 211 | || Ix = 1.0106e-007 || Iy = 0 || Iz = 3.78e-005 |
| 212 | |