ATRIAS 2.1 Handbook/Technical Specifications/Solid Model Specifications/Torso Mass and Inertia

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Body (or Torso)[edit]

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Mass = 22.22268345 kilograms

Center of mass: ( meters )

X = -0.00281061
Y = 0.33493699
Z = 0.00319347

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

Ix = (0.00070046, 0.99983654, -0.01806682) Px = 0.71977094
Iy = (0.03700520, 0.01802854, 0.99915243) Py = 1.19184042
Iz = (0.99931483, -0.00136843, -0.03698652) Pz = 1.60484185

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

Lxx = 1.60427586 Lxy = 0.00089539 Lxz = 0.01525904
Lyx = 0.00089539 Lyy = 0.71992603 Lyz = -0.00854831
Lzx = 0.01525904 Lzy = -0.00854831 Lzz = 1.19225132

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

Ixx = 4.09750513 Ixy = -0.02002455 Ixz = 0.01505958
Iyx = -0.02002455 Iyy = 0.72032821 Iyz = 0.01522136
Izx = 0.01505958 Izy = 0.01522136 Izz = 3.68542951