Changes between Version 4 and Version 5 of Hand/280/MassByJoint


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Timestamp:
Jul 27, 2012, 11:08:31 PM (7 years ago)
Author:
dc
Comment:

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  • Hand/280/MassByJoint

    v4 v5  
    11= Inertial Tensors and Mass Properties for the BarrettHand BH8-280 =
    22
     3The inertial properties calculated here represent the masses and inertias of each link of the BarrettHand BH8-280. All calculations were made using SolidWorks 2012 SP 3.0 and CAD models that include all mechanical components of the hand (including fasteners) and all electrical components except wiring. The mass of an actual finger was measured at
     4
     5
    36== Mass Properties for Frame W (hand base frame) with palm pad ==
    47
     
    710Output coordinate System: Frame W (opaque)
    811
    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 
     12Mass = 0.60858 kilograms
     13
     14Volume = 0.00024871 cubic meters
     15
     16Surface area = 0.24908 square meters
     17
     18Center of mass: ( meters )
     19        X = 5.0019e-005
     20        Y = -0.0044561
     21        Z = 0.037268
     22
     23Principal axes of inertia and principal moments of inertia: ( kilograms * square meters )
    2024Taken 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 
     25         Ix = (0.0025349, 0.91612, -0.4009)     Px = 0.00047536
     26         Iy = (0.012636, -0.40089, -0.91604)    Py = 0.0006507
     27         Iz = (-0.99992, -0.0027435, -0.012592)         Pz = 0.00069861
     28
     29Moments of inertia: ( kilograms * square meters )
    2730Taken 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  
     31        Lxx = 0.0006986 Lxy = 2.7577e-007       Lxz = -7.8138e-007
     32        Lyx = 2.7577e-007       Lyy = 0.00050354        Lyz = -6.44e-005
     33        Lzx = -7.8138e-007      Lzy = -6.44e-005        Lzz = 0.00062253
     34
     35Moments of inertia: ( kilograms * square meters )
     36Taken at the output coordinate system.
     37        Ixx = 0.001556  Ixy = 1.4013e-007       Ixz = 3.5309e-007
     38        Iyx = 1.4013e-007       Iyy = 0.0013488 Iyz = -0.00016547
     39        Izx = 3.5309e-007       Izy = -0.00016547       Izz = 0.00063461
    3740
    3841== Mass Properties for Frame W (hand base frame) without palm pad ==
     
    4245Output coordinate System: Frame W (opaque)
    4346
    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
     47Mass = 0.59573 kilograms
     48
     49Volume = 0.00023933 cubic meters
     50
     51Surface area = 0.23262 square meters
     52
     53Center of mass: ( meters )
     54        X = 5.1098e-005
     55        Y = -0.0050433
     56        Z = 0.036671
     57
     58Principal axes of inertia and principal moments of inertia: ( kilograms * square meters )
     59Taken at the center of mass.
     60         Ix = (0.0027331, 0.90166, -0.43244)    Px = 0.00045391
     61         Iy = (0.01699, -0.43242, -0.90151)     Py = 0.00063852
     62         Iz = (-0.99985, -0.0048831, -0.016501)         Pz = 0.00067156
     63
     64Moments of inertia: ( kilograms * square meters )
     65Taken at the center of mass and aligned with the output coordinate system.
     66        Lxx = 0.00067154        Lxy = 2.9365e-007       Lxz = -7.6321e-007
     67        Lyx = 2.9365e-007       Lyy = 0.00048844        Lyz = -7.1984e-005
     68        Lzx = -7.6321e-007      Lzy = -7.1984e-005      Lzz = 0.00060401
     69
     70Moments of inertia: ( kilograms * square meters )
     71Taken at the output coordinate system.
     72        Ixx = 0.0014878 Ixy = 1.4013e-007       Ixz = 3.5309e-007
     73        Iyx = 1.4013e-007       Iyy = 0.0012896 Iyz = -0.00018216
     74        Izx = 3.5309e-007       Izy = -0.00018216       Izz = 0.00061916
    6775
    6876