= 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 == Mass Properties for Frame W (hand base frame) with palm pad == [[Image(HandFrameW_NoDialog_crop.jpg)]] Output coordinate System: Frame W (opaque) Mass = 0.60858 kilograms Volume = 0.00024871 cubic meters 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 ) 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 ) 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 ) 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 == Mass Properties for Frame W (hand base frame) without palm pad == [[Image(HandFrameW_NOPP_NoDialog_crop.jpg)]] Output coordinate System: Frame W (opaque) Mass = 0.59573 kilograms Volume = 0.00023933 cubic meters 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 ) 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 ) 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 ) 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 == 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