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

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Drive Assembly[edit]

Drive Assembly WITH Motor Rotors[edit]

Updated: 4/9/2013

DriveAssembly with Motor Rotors included

Mass = 14.08053732 kilograms

Center of mass: ( meters )

X = 0.01491251
Y = 0.02897855
Z = 0.00105929

Principal axes of inertia and principal moments of inertia: ( kilograms * square meters ) Taken at the center of mass.

Ix = (0.29816919, 0.95259188, 0.06052970) Px = 0.07562156
Iy = (-0.86011725, 0.29563757, -0.41568828) Py = 0.28624760
Iz = (-0.41387613, 0.07188280, 0.90749072) Pz = 0.29650450

Moments of inertia: ( kilograms * square meters ) Taken at the center of mass and aligned with the output coordinate system.

Lxx = 0.26927886 Lxy = 0.06013001 Lxz = 0.00765377
Lyx = 0.06013001 Lyy = 0.09517194 Lyz = 0.01147563
Lzx = 0.00765377 Lzy = 0.01147563 Lzz = 0.29392286

Moments of inertia: ( kilograms * square meters ) Taken at the output coordinate system.

Ixx = 0.28111888 Ixy = 0.06621481 Ixz = 0.00787620
Iyx = 0.06621481 Iyy = 0.09831901 Iyz = 0.01190786
Izx = 0.00787620 Izy = 0.01190786 Izz = 0.30887835

Drive Assembly WITHOUT Motor Rotors[edit]

Updated: 4/9/2013

Drive Assembly WITH motor rotors

Mass = 11.6828 kilograms

Center of mass: ( meters )

X = 0.0180
Y = 0.0349
Z = 0.0013

Principal axes of inertia and principal moments of inertia: ( kilograms * square meters ) Taken at the center of mass.

Ix = (0.2924, 0.9544, 0.0609) Px = 0.0678
Iy = (-0.8094, 0.2809, -0.5157) Py = 0.2772
Iz = (-0.5093, 0.1015, 0.8546) Pz = 0.2861

Moments of inertia: ( kilograms * square meters ) Taken at the center of mass and aligned with the output coordinate system.

Lxx = 0.2616 Lxy = 0.0589 Lxz = 0.0076
Lyx = 0.0589 Lyy = 0.0866 Lyz = 0.0114
Lzx = 0.0076 Lzy = 0.0114 Lzz = 0.2829

Moments of inertia: ( kilograms * square meters ) Taken at the output coordinate system.

Ixx = 0.2759 Ixy = 0.0662 Ixz = 0.0079
Iyx = 0.0662 Iyy = 0.0904 Iyz = 0.0119
Izx = 0.0079 Izy = 0.0119 Izz = 0.3009

Motor Rotors (Without drive assembly[edit]

Updated: 4/9/2013

both motor rotors of the DriveAssembly.

Mass = 1.8144 kilograms

Center of mass: ( meters )

X = 0.0000
Y = 0.0000
Z = 0.0000

Principal axes of inertia and principal moments of inertia: ( kilograms * square meters ) Taken at the center of mass.

Ix = (1.0000, 0.0000, 0.0000) Px = 0.0039
Iy = (0.0000, 0.0000, -1.0000) Py = 0.0049
Iz = (0.0000, 1.0000, 0.0000) Pz = 0.0049

Moments of inertia: ( kilograms * square meters ) Taken at the center of mass and aligned with the output coordinate system.

Lxx = 0.0039 Lxy = 0.0000 Lxz = 0.0000
Lyx = 0.0000 Lyy = 0.0049 Lyz = 0.0000
Lzx = 0.0000 Lzy = 0.0000 Lzz = 0.0049

Moments of inertia: ( kilograms * square meters ) Taken at the output coordinate system.

Ixx = 0.0039 Ixy = 0.0000 Ixz = 0.0000
Iyx = 0.0000 Iyy = 0.0049 Iyz = 0.0000
Izx = 0.0000 Izy = 0.0000 Izz = 0.0049