ATRIAS 2.1 Handbook/Technical Specifications/Solid Model Specifications/Leg Sub-assembly Mass and Inertia's

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Leg SubAssembly Mass and Inertias[edit | edit source]

Overview of the different inertial assemblies that make up the ATRIAS 2.1 leg
Overview of the different inertial assemblies that make up the ATRIAS 2.1 leg

Link: Exploding view animation of the ATRIAS 2.1 Leg

Mass of one leg = 19.8 kg

Sub-assemblies[edit | edit source]

Drive Assembly

Shin Bone

Thigh Bone

Motor Outputs for Shin and Thigh

Four-Bar Link

Lower Leg

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