# Changes between Version 5 and Version 6 of Hand/280/MassByJoint

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Timestamp:
Jul 31, 2012, 4:21:15 AM (7 years ago)
Comment:

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• ## Hand/280/MassByJoint

 v5 = Inertial Tensors and Mass Properties for the BarrettHand BH8-280 = The 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 The 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. To verify that masses were correct, The mass of an actual finger was measured at Surface area = 0.24908 square meters Center of mass: ( meters ) X = 5.0019e-005 Y = -0.0044561 Z = 0.037268 Principal axes of inertia and principal moments of inertia: ( kilograms * square meters ) Center of mass: (meters) X = 5.0019e-005 Y = -0.0044561 Z = 0.037268 Principal axes of inertia and principal moments of inertia: (kilograms * square meters) Taken at the center of mass. Ix = (0.0025349, 0.91612, -0.4009)     Px = 0.00047536 Iy = (0.012636, -0.40089, -0.91604)    Py = 0.0006507 Iz = (-0.99992, -0.0027435, -0.012592)         Pz = 0.00069861 Moments of inertia: ( kilograms * square meters ) || Ix = (0.0025349, 0.91612, -0.4009) || Px = 0.00047536 || Iy = (0.012636, -0.40089, -0.91604) || Py = 0.0006507 || Iz = (-0.99992, -0.0027435, -0.012592) || Pz = 0.00069861 Moments of inertia: (kilograms * square meters) Taken at the center of mass and aligned with the output coordinate system. Lxx = 0.0006986 Lxy = 2.7577e-007       Lxz = -7.8138e-007 Lyx = 2.7577e-007       Lyy = 0.00050354        Lyz = -6.44e-005 Lzx = -7.8138e-007      Lzy = -6.44e-005        Lzz = 0.00062253 Moments of inertia: ( kilograms * square meters ) || Lxx = 0.0006986 || Lxy = 2.7577e-007 || Lxz = -7.8138e-007 || Lyx = 2.7577e-007 || Lyy = 0.00050354 || Lyz = -6.44e-005 || Lzx = -7.8138e-007 || Lzy = -6.44e-005 || Lzz = 0.00062253 Moments of inertia: (kilograms * square meters) Taken at the output coordinate system. Ixx = 0.001556  Ixy = 1.4013e-007       Ixz = 3.5309e-007 Iyx = 1.4013e-007       Iyy = 0.0013488 Iyz = -0.00016547 Izx = 3.5309e-007       Izy = -0.00016547       Izz = 0.00063461 || Ixx = 0.001556 || Ixy = 1.4013e-007 || Ixz = 3.5309e-007 || Iyx = 1.4013e-007 || Iyy = 0.0013488 || Iyz = -0.00016547 || Izx = 3.5309e-007 || Izy = -0.00016547 || Izz = 0.00063461 == Mass Properties for Frame W (hand base frame) without palm pad == Surface area = 0.23262 square meters Center of mass: ( meters ) X = 5.1098e-005 Y = -0.0050433 Z = 0.036671 Principal axes of inertia and principal moments of inertia: ( kilograms * square meters ) Center of mass: (meters) X = 5.1098e-005 Y = -0.0050433 Z = 0.036671 Principal axes of inertia and principal moments of inertia: (kilograms * square meters) Taken at the center of mass. Ix = (0.0027331, 0.90166, -0.43244)    Px = 0.00045391 Iy = (0.01699, -0.43242, -0.90151)     Py = 0.00063852 Iz = (-0.99985, -0.0048831, -0.016501)         Pz = 0.00067156 Moments of inertia: ( kilograms * square meters ) || Ix = (0.0027331, 0.90166, -0.43244) || Px = 0.00045391 || Iy = (0.01699, -0.43242, -0.90151) || Py = 0.00063852 || Iz = (-0.99985, -0.0048831, -0.016501) || Pz = 0.00067156 Moments of inertia: (kilograms * square meters) Taken at the center of mass and aligned with the output coordinate system. Lxx = 0.00067154        Lxy = 2.9365e-007       Lxz = -7.6321e-007 Lyx = 2.9365e-007       Lyy = 0.00048844        Lyz = -7.1984e-005 Lzx = -7.6321e-007      Lzy = -7.1984e-005      Lzz = 0.00060401 Moments of inertia: ( kilograms * square meters ) || Lxx = 0.00067154 || Lxy = 2.9365e-007 || Lxz = -7.6321e-007 || Lyx = 2.9365e-007 || Lyy = 0.00048844 || Lyz = -7.1984e-005 || Lzx = -7.6321e-007 || Lzy = -7.1984e-005 || Lzz = 0.00060401 Moments of inertia: (kilograms * square meters) Taken at the output coordinate system. Ixx = 0.0014878 Ixy = 1.4013e-007       Ixz = 3.5309e-007 Iyx = 1.4013e-007       Iyy = 0.0012896 Iyz = -0.00018216 Izx = 3.5309e-007       Izy = -0.00018216       Izz = 0.00061916 || Ixx = 0.0014878 || Ixy = 1.4013e-007 || Ixz = 3.5309e-007 || Iyx = 1.4013e-007 || Iyy = 0.0012896 || Iyz = -0.00018216 || Izx = 3.5309e-007 || Izy = -0.00018216 || Izz = 0.00061916 Principal axes of inertia and principal moments of inertia (kilograms * square meters), taken at the center of mass: || I = (-0.99149, -0.0047957, -0.13013)  || P = 1.9838e-005 || I = (0.13011, 0.0033343, -0.99149)  || P = 6.904e-005 || I = (0.0051888, -0.99998, -0.0026819)  || P = 7.4106e-005 Moments of inertia (kilograms * square meters), taken at the center of mass and aligned with the output coordinate system: || Lx = 2.0672e-005 || Ly = 2.6024e-007 || Lz = 6.3481e-006 || Lx = 2.6024e-007 || Ly = 7.4105e-005 || Lz = 1.7118e-008 || Lx = 6.3481e-006 || Ly = 1.7118e-008 || Lz = 6.8207e-005 Moments of inertia (kilograms * square meters), taken at the output coordinate system: || Ix = 3.8374e-005 || Iy = -5.604e-008 || Iz = -4.2034e-005 || Ix = -5.604e-008 || Iy = 0.00022405 || Iz = 1.3283e-007 || Ix = -4.2034e-005 || Iy = 1.3283e-007 || Iz = 0.00020045 || Ix = (-0.99149, -0.0047957, -0.13013)  || Px = 1.9838e-005 || Iy = (0.13011, 0.0033343, -0.99149)  || Py = 6.904e-005 || Iz = (0.0051888, -0.99998, -0.0026819)  || Pz = 7.4106e-005 Moments of inertia (kilograms * square meters), taken at the center of mass and aligned with the output coordinate system: || Lxx = 2.0672e-005 || Lxy = 2.6024e-007 || Lxz = 6.3481e-006 || Lyx = 2.6024e-007 || Lyy = 7.4105e-005 || Lyz = 1.7118e-008 || Lzx = 6.3481e-006 || Lzy = 1.7118e-008 || Lzz = 6.8207e-005 Moments of inertia (kilograms * square meters), taken at the output coordinate system: || Ixx = 3.8374e-005 || Ixy = -5.604e-008 || Ixz = -4.2034e-005 || Iyx = -5.604e-008 || Iyy = 0.00022405 || Iyz = 1.3283e-007 || Izx = -4.2034e-005 || Izy = 1.3283e-007 || Izz = 0.00020045 == Mass Properties for Frame 2 (finger inner link frame) without fingertip torque sensor == Principal axes of inertia and principal moments of inertia (kilograms * square meters), taken at the center of mass: || I = (-0.99971, -0.016746, 0.017324)  || P = 4.7372e-006 || I = (0.016611, -0.99983, -0.007873)  || P = 4.1939e-005 || I = (0.017453, -0.0075829, 0.99982)  || P = 4.3077e-005 Moments of inertia (kilograms * square meters), taken at the center of mass and aligned with the output coordinate system: || Lx = 4.7592e-006 || Ly = 6.2295e-007 || Lz = -6.6417e-007 || Lx = 6.2295e-007 || Ly = 4.1929e-005 || Lz = -2.1644e-009 || Lx = -6.6417e-007 || Ly = -2.1644e-009 || Lz = 4.3066e-005 Moments of inertia (kilograms * square meters), taken at the output coordinate system: || Ix = 4.8168e-006 || Iy = 1.6848e-006 || Iz = 4.6191e-008 || Ix = 1.6848e-006 || Iy = 7.0281e-005 || Iz = 2.4457e-008 || Ix = 4.6191e-008 || Iy = 2.4457e-008 || Iz = 7.144e-005 || Ix = (-0.99971, -0.016746, 0.017324)  || Px = 4.7372e-006 || Iy = (0.016611, -0.99983, -0.007873)  || Py = 4.1939e-005 || Iz = (0.017453, -0.0075829, 0.99982)  || Pz = 4.3077e-005 Moments of inertia (kilograms * square meters), taken at the center of mass and aligned with the output coordinate system: || Lxx = 4.7592e-006 || Lxy = 6.2295e-007 || Lxz = -6.6417e-007 || Lyx = 6.2295e-007 || Lyy = 4.1929e-005 || Lyz = -2.1644e-009 || Lzx = -6.6417e-007 || Lzy = -2.1644e-009 || Lzz = 4.3066e-005 Moments of inertia (kilograms * square meters), taken at the output coordinate system: || Ixx = 4.8168e-006 || Ixy = 1.6848e-006 || Ixz = 4.6191e-008 || Iyx = 1.6848e-006 || Iyy = 7.0281e-005 || Iyz = 2.4457e-008 || Izx = 4.6191e-008 || Izy = 2.4457e-008 || Izz = 7.144e-005 Principal axes of inertia and principal moments of inertia (kilograms * square meters), taken at the center of mass: || I = (-0.99972, -0.015048, 0.018278)  || P = 4.7942e-006 || I = (0.014917, -0.99986, -0.0073066)  || P = 4.3325e-005 || I = (0.018386, -0.0070319, 0.99981)  || P = 4.4454e-005 Moments of inertia (kilograms * square meters), taken at the center of mass and aligned with the output coordinate system: || Lx = 4.8162e-006 || Ly = 5.7981e-007 || Lz = -7.2483e-007 || Lx = 5.7981e-007 || Ly = 4.3317e-005 || Lz = -2.6653e-009 || Lx = -7.2483e-007 || Ly = -2.6653e-009 || Lz = 4.4441e-005 Moments of inertia (kilograms * square meters), taken at the output coordinate system: || Ix = 4.872e-006 || Iy = 1.7103e-006 || Iz = 3.4041e-008 || Ix = 1.7103e-006 || Iy = 7.6588e-005 || Iz = 2.3133e-008 || Ix = 3.4041e-008 || Iy = 2.3133e-008 || Iz = 7.7733e-005 || Ix = (-0.99972, -0.015048, 0.018278)  || Px = 4.7942e-006 || Iy = (0.014917, -0.99986, -0.0073066)  || Py = 4.3325e-005 || Iz = (0.018386, -0.0070319, 0.99981)  || Pz = 4.4454e-005 Moments of inertia (kilograms * square meters), taken at the center of mass and aligned with the output coordinate system: || Lxx = 4.8162e-006 || Lxy = 5.7981e-007 || Lxz = -7.2483e-007 || Lyx = 5.7981e-007 || Lyy = 4.3317e-005 || Lyz = -2.6653e-009 || Lzx = -7.2483e-007 || Lzy = -2.6653e-009 || Lzz = 4.4441e-005 Moments of inertia (kilograms * square meters), taken at the output coordinate system: || Ixx = 4.872e-006 || Ixy = 1.7103e-006 || Ixz = 3.4041e-008 || Iyx = 1.7103e-006 || Iyy = 7.6588e-005 || Iyz = 2.3133e-008 || Izx = 3.4041e-008 || Izy = 2.3133e-008 || Izz = 7.7733e-005 Principal axes of inertia and principal moments of inertia (kilograms * square meters), taken at the center of mass: || I = (-0.99921, -0.032055, 0.023536) || P = 3.0842e-006 || I = (0.023767, -0.0068431, 0.99969)  || P = 1.568e-005 || I = (-0.031884, 0.99946, 0.0075995)  || P = 1.6826e-005 Moments of inertia (kilograms * square meters), taken at the center of mass and aligned with the output coordinate system: || Lx = 3.1053e-006 || Ly = 4.3996e-007 || Lz = -2.9595e-007 || Lx = 4.3996e-007 || Ly = 1.6812e-005 || Lz = -1.8205e-008 || Lx = -2.9595e-007 || Ly = -1.8205e-008 || Lz = 1.5673e-005 Moments of inertia (kilograms * square meters), taken at the output coordinate system: || Ix = 3.1582e-006 || Iy = 1.4308e-006 || Iz = 1.0106e-007 || Ix = 1.4308e-006 || Iy = 3.8376e-005 || Iz = 0 || Ix = 1.0106e-007 || Iy = 0 || Iz = 3.7275e-005 || Ix = (-0.99921, -0.032055, 0.023536) || Px = 3.0842e-006 || Iy = (0.023767, -0.0068431, 0.99969)  || Py = 1.568e-005 || Iz = (-0.031884, 0.99946, 0.0075995)  || Pz = 1.6826e-005 Moments of inertia (kilograms * square meters), taken at the center of mass and aligned with the output coordinate system: || Lxx = 3.1053e-006 || Lxy = 4.3996e-007 || Lxz = -2.9595e-007 || Lyx = 4.3996e-007 || Lyy = 1.6812e-005 || Lyz = -1.8205e-008 || Lzx = -2.9595e-007 || Lzy = -1.8205e-008 || Lzz = 1.5673e-005 Moments of inertia (kilograms * square meters), taken at the output coordinate system: || Ixx = 3.1582e-006 || Ixy = 1.4308e-006 || Ixz = 1.0106e-007 || Iyx = 1.4308e-006 || Iyy = 3.8376e-005 || Iyz = 0 || Izx = 1.0106e-007 || Izy = 0 || Izz = 3.7275e-005 Principal axes of inertia and principal moments of inertia (kilograms * square meters), taken at the center of mass: || I = (-0.99919, -0.032581, 0.023483)  || P = 3.0982e-006 || I = (0.023724, -0.0070039, 0.99969)  || P = 1.5816e-005 || I = (-0.032406, 0.99944, 0.0077712)  || P = 1.6962e-005 Moments of inertia (kilograms * square meters), taken at the center of mass and aligned with the output coordinate system: || Lx = 3.1199e-006 || Ly = 4.5115e-007 || Lz = -2.9813e-007 || Lx = 4.5115e-007 || Ly = 1.6948e-005 || Lz = -1.8635e-008 || Lx = -2.9813e-007 || Ly = -1.8635e-008 || Lz = 1.5809e-005 Moments of inertia (kilograms * square meters), taken at the output coordinate system: || Ix = 3.1752e-006 || Iy = 1.4779e-006 || Iz = 1.0106e-007 || Ix = 1.4779e-006 || Iy = 3.8897e-005 || Iz = 0 || Ix = 1.0106e-007 || Iy = 0 || Iz = 3.78e-005 || Ix = (-0.99919, -0.032581, 0.023483)  || Px = 3.0982e-006 || Iy = (0.023724, -0.0070039, 0.99969)  || Py = 1.5816e-005 || Iz = (-0.032406, 0.99944, 0.0077712)  || Pz = 1.6962e-005 Moments of inertia (kilograms * square meters), taken at the center of mass and aligned with the output coordinate system: || Lxx = 3.1199e-006 || Lxy = 4.5115e-007 || Lxz = -2.9813e-007 || Lyx = 4.5115e-007 || Lyy = 1.6948e-005 || Lyz = -1.8635e-008 || Lzx = -2.9813e-007 || Lzy = -1.8635e-008 || Lzz = 1.5809e-005 Moments of inertia (kilograms * square meters), taken at the output coordinate system: || Ixx = 3.1752e-006 || Ixy = 1.4779e-006 || Ixz = 1.0106e-007 || Iyx = 1.4779e-006 || Iyy = 3.8897e-005 || Iyz = 0 || Izx = 1.0106e-007 || Izy = 0 || Izz = 3.78e-005