Changes between Version 2 and Version 3 of Hand/282/MassProperties
 Timestamp:
 Jul 16, 2013, 4:32:54 PM (7 years ago)
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Hand/282/MassProperties
v2 v3 27 27 Output coordinate System: Frame W (opaque) 28 28 29 Mass = 0. 60858kilograms30 31 Volume = 0.000 24871cubic meters32 33 Surface area = 0. 24908square meters29 Mass = 0.36699 kilograms 30 31 Volume = 0.00011798 cubic meters 32 33 Surface area = 0.18541 square meters 34 34 35 35 Center of mass: (meters) 36 X = 5.0019e005 Y = 0.0044561 Z = 0.03726837 38 Principal axes of inertia and principal moments of inertia: ( kilograms * square meters)36 X = 2.506e005 Y = 0.034479 Z = .0072785 37 38 Principal axes of inertia and principal moments of inertia: ( kilograms * square meters ) 39 39 Taken at the center of mass. 40  Ix = (0.0025349, 0.91612, 0.4009)  Px = 0.00047536 41  Iy = (0.012636, 0.40089, 0.91604)  Py = 0.0006507 42  Iz = (0.99992, 0.0027435, 0.012592)  Pz = 0.0006986143 44 Moments of inertia: ( kilograms * square meters)40  Ix = (0.0018855, 0.15008, 0.98867)  Px = 0.00021984 41  Iy = (0.21340, 0.96595, 0.14623)  Py = 0.00040405 42  Iz = (0.97696, 0.21070, 0.033849)  Pz = 0.00040831 43 44 Moments of inertia: ( kilograms * square meters ) 45 45 Taken at the center of mass and aligned with the output coordinate system. 46  Lxx = 0.0006986  Lxy = 2.7577e007  Lxz = 7.8138e007 47  Lyx = 2.7577e007  Lyy = 0.00050354  Lyz = 6.44e005 48  Lzx = 7.8138e007  Lzy = 6.44e005  Lzz = 0.00062253 49 50 Moments of inertia: ( kilograms * square meters)46  Lxx = 0.00040811  Lxy = 0.00000082  Lxz = 0.00000048 47  Lyx = 0.00000082  Lyy = 0.00040009  Lyz = 0.00002736 48  Lzx = 0.00000048  Lzy = 0.00002736  Lzz = 0.00022400 49 50 Moments of inertia: ( kilograms * square meters ) 51 51 Taken at the output coordinate system. 52  Ixx = 0.001556  Ixy = 1.4013e007  Ixz = 3.5309e007 53  Iyx = 1.4013e007  Iyy = 0.0013488  Iyz = 0.00016547 54  Izx = 3.5309e007  Izy = 0.00016547  Izz = 0.00063461 52  Ixx = 0.00086379  Ixy = 0.00000051  Ixz = 0.00000055 53  Iyx = 0.00000051  Iyy = 0.00041950  Iyz = 0.00011939 54  Izx = 0.00000055  Izy = 0.00011939  Izz = 0.00066026 55 55 56 56 == Mass Properties for Frame W (hand base frame) without palm pad == … … 60 60 Output coordinate System: Frame W (opaque) 61 61 62 Mass = 0.59573 kilograms 63 64 Volume = 0.00023933 cubic meters 65 66 Surface area = 0.23262 square meters 67 68 Center of mass: (meters) 69 X = 5.1098e005 70 Y = 0.0050433 71 Z = 0.036671 72 73 Principal axes of inertia and principal moments of inertia: (kilograms * square meters) 62 Mass = 0.34867 kilograms 63 64 Volume = 0.00010856 cubic meters 65 66 Surface area = 0.16889 square meters 67 68 Center of mass: ( meters ) 69 X = 2.63759e005 Y = 0.033662 Z = 0.0087593 70 71 Principal axes of inertia and principal moments of inertia: ( kilograms * square meters ) 74 72 Taken at the center of mass. 75  Ix = (0.0027331, 0.90166, 0.43244)  Px = 0.00045391 76  Iy = (0.01699, 0.43242, 0.90151)  Py = 0.00063852 77  Iz = (0.99985, 0.0048831, 0.016501)  Pz = 0.00067156 78 79 Moments of inertia: ( kilograms * square meters)73  Ix = (0.0017695, 0.19274, 0.98124)  Px = 0.00020570 74  Iy = (0.81607, 0.56738, 0.10998)  Py = 0.00037703 75  Iz = (0.57794, 0.80057, 0.15830)  Pz = 0.00037892 76 77 Moments of inertia: ( kilograms * square meters ) 80 78 Taken at the center of mass and aligned with the output coordinate system. 81  Lxx = 0.00067154  Lxy = 2.9365e007  Lxz = 7.6321e00782  Lyx = 2.9365e007  Lyy = 0.00048844  Lyz = 7.1984e00583  Lzx = 7.6321e007  Lzy = 7.1984e005  Lzz = 0.0006040184 85 Moments of inertia: ( kilograms * square meters)79  Lxx = 0.00037765  Lxy = 8.17141e007  Lxz = 4.70601e007 80  Lyx = 8.17141e007  Lyy = 0.00037187  Lyz = 3.26426e005 81  Lzx = 4.70601e007  Lzy = 3.26426e005  Lzz = 0.00021211 82 83 Moments of inertia: ( kilograms * square meters ) 86 84 Taken at the output coordinate system. 87  Ixx = 0.0014878  Ixy = 1.4013e007  Ixz = 3.5309e00788  Iyx = 1.4013e007  Iyy = 0.0012896  Iyz = 0.00018216 89  Izx = 3.5309e007  Izy = 0.00018216  Izz = 0.00061916 85  Ixx = 0.00079952  Ixy = 5.07559e007  Ixz = 5.51157e007 86  Iyx = 5.07559e007  Iyy = 0.00039862  Iyz = 0.00013545 87  Izx = 5.51157e007  Izy = 0.00013545  Izz = 0.00060722 90 88 91 89