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

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Shin Bone[edit]

description of inertial values and mass of this particular robot component of the ATRIAS 2.1 robot built at Oregon State University
Mass = 0.7477 kilograms

Center of mass: ( meters )

X = 0.0071
Y = 0.0310
Z = 0.1460

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

Ix = (-0.0311, 0.0530, 0.9981) Px = 0.0026
Iy = (-0.0411, -0.9978, 0.0517) Py = 0.0165
Iz = (0.9987, -0.0395, 0.0332) Pz = 0.0182

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

Lxx = 0.0182 Lxy = 0.0000 Lxz = -0.0005
Lyx = 0.0000 Lyy = 0.0165 Lyz = 0.0007
Lzx = -0.0005 Lzy = 0.0007 Lzz = 0.0027

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

Ixx = 0.0348 Ixy = 0.0002 Ixz = 0.0003
Iyx = 0.0002 Iyy = 0.0325 Iyz = 0.0041
Izx = 0.0003 Izy = 0.0041 Izz = 0.0035