= Inertial Tensors and Mass Properties for the BarrettHand BH8-280 =

== Mass Properties for Frame W (hand base frame) with palm pad ==

[[Image(HandFrameW_NoDialog_crop.jpg)]]

Output coordinate System: Frame W (opaque)

Mass = 0.58875 kilograms

Volume = 0.00019531 cubic meters

Surface area = 0.22323 square meters

Center of mass (meters):
 X = 5.1703e-005 Y = -0.0046167 Z = 0.037783

Principal axes of inertia and principal moments of inertia: (kilograms * square meters)

Taken at the center of mass.
 || I = (0.002589, 0.91632, -0.40043) || P = 0.0004585 ||
 || I = (0.012313, -0.40043, -0.91624) || P = 0.00063093 ||
 || I = (-0.99992, -0.0025583, -0.012319) || P = 0.00068112 ||

Moments of inertia: (kilograms * square meters)

Taken at the center of mass and aligned with the output coordinate system.
 || Lx = 0.00068111 || Ly = 2.8066e-007 || Lz = -7.9704e-007 ||
 || Lx = 2.8066e-007 || Ly = 0.00048615 || Lz = -6.327e-005 ||
 || Lx = -7.9704e-007 || Ly = -6.327e-005 || Lz = 0.00060329 ||

Moments of inertia (kilograms * square meters), taken at the output coordinate system:
 || Ix = 0.0015341 || Iy = 1.4013e-007 || Iz = 3.5309e-007
 || Ix = 1.4013e-007 || Iy = 0.0013266 || Iz = -0.00016597
 || Ix = 3.5309e-007 || Iy = -0.00016597 || Iz = 0.00061584
 

== Mass Properties for Frame W (hand base frame) without palm pad ==

[[Image(HandFrameW_NOPP_NoDialog_crop.jpg)]]

Output coordinate System: Frame W (opaque)

Mass = 0.57591 kilograms

Volume = 0.00018593 cubic meters

Surface area = 0.20677 square meters

Center of mass (meters):
 X = 5.2857e-005 Y = -0.0052276 Z = 0.037177
 
Principal axes of inertia and principal moments of inertia (kilograms * square meters), taken at the center of mass:
 || I = (0.0027985, 0.90135, -0.43308) || P = 0.00043742
 || I = (0.016034, -0.43307, -0.90122) || P = 0.00061862
 || I = (-0.99987, -0.0044222, -0.015665) || P = 0.00065431
 
Moments of inertia (kilograms * square meters), taken at the center of mass and aligned with the output coordinate system:
 || Lx = 0.0006543 || Ly = 2.9926e-007 || Lz = -7.786e-007
 || Lx = 2.9926e-007 || Ly = 0.00047141 || Lz = -7.0735e-005
 || Lx = -7.786e-007 || Ly = -7.0735e-005 || Lz = 0.00058465
 
Moments of inertia (kilograms * square meters), taken at the output coordinate system:
 || Ix = 0.001466 || Iy = 1.4013e-007 || Iz = 3.5309e-007
 || Ix = 1.4013e-007 || Iy = 0.0012674 || Iz = -0.00018266
 || Ix = 3.5309e-007 || Iy = -0.00018266 || Iz = 0.00060039



== Mass Properties for Frame 1 (finger spread frame) ==

[[Image(HandFrame1_NoDialog_crop.jpg)]]

Output coordinate System: F1 (opaque)

Mass = 0.14109 kilograms

Volume = 3.919e-005 cubic meters

Surface area = 0.058268 square meters

Center of mass (meters):
 X = 0.030616 Y = -7.3219e-005 Z = -0.011201
 
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

== Mass Properties for Frame 2 (finger inner link frame) without fingertip torque sensor ==

[[Image(HandFrame2_NOSG_NoDialog_crop.jpg)]]

Output coordinate System: F2_Origin

Mass = 0.05832 kilograms

Volume = 1.629e-005 cubic meters

Surface area = 0.026068 square meters

Center of mass (meters):
 X = 0.022042 Y = 0.00082603 Z = 0.0005526

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 


== Mass Properties for Frame 2 (finger inner link frame) with fingertip torque sensor ==

[[Image(HandFrame2_NoDialog_crop.jpg)]]

Output coordinate System: F2_Origin

Mass = 0.062139 kilograms

Volume = 1.7634e-005 cubic meters

Surface area = 0.028654 square meters

Center of mass (meters):
 X = 0.023133 Y = 0.00078642 Z = 0.00052792

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


== Mass Properties for Frame 3 (fingertip frame) without fingertip pressure pad ==

[[Image(HandFrame3_NOPP_NoDialog_crop.jpg)]]

Output coordinate System: F3 (opaque)

Mass = 0.041377 kilograms

Volume = 1.5627e-005 cubic meters

Surface area = 0.019684 square meters

Center of mass (meters):
 X = 0.022825 Y = 0.0010491 Z = 0.00042038
 
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
 

== Mass Properties for Frame 3 (fingertip frame) with fingertip pressure pad ==

[[Image(HandFrame3_NoDialog_crop.jpg)]]

Output coordinate System: F3 (opaque)

Mass = 0.04166 kilograms

Volume = 1.5911e-005 cubic meters

Surface area = 0.02168 square meters

Center of mass (meters):
 X = 0.02295 Y = 0.0010739 Z = 0.00041752
 
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