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

Shin Bone

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