Changes between Version 2 and Version 3 of Hand/282/MassProperties


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Timestamp:
Jul 16, 2013, 4:32:54 PM (11 years ago)
Author:
dc
Comment:

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  • Hand/282/MassProperties

    v2 v3  
    2727Output coordinate System: Frame W (opaque)
    2828
    29 Mass = 0.60858 kilograms
    30 
    31 Volume = 0.00024871 cubic meters
    32 
    33 Surface area = 0.24908 square meters
     29Mass = 0.36699 kilograms
     30
     31Volume = 0.00011798 cubic meters
     32
     33Surface area = 0.18541 square meters
    3434
    3535Center of mass: (meters)
    36  X = 5.0019e-005 Y = -0.0044561 Z = 0.037268
    37 
    38 Principal axes of inertia and principal moments of inertia: (kilograms * square meters)
     36 X = -2.506e-005 Y = 0.034479 Z = -.0072785
     37
     38Principal axes of inertia and principal moments of inertia: ( kilograms * square meters )
    3939Taken at the center of mass.
    40  || Ix = (0.0025349, 0.91612, -0.4009) || Px = 0.00047536
    41  || Iy = (0.012636, -0.40089, -0.91604) || Py = 0.0006507
    42  || Iz = (-0.99992, -0.0027435, -0.012592) || Pz = 0.00069861
    43 
    44 Moments of inertia: (kilograms * square meters)
     40|| Ix = (0.0018855, -0.15008, 0.98867) || Px = 0.00021984
     41|| Iy = (-0.21340, -0.96595, -0.14623) || Py = 0.00040405
     42|| Iz = (0.97696, -0.21070, -0.033849) || Pz = 0.00040831
     43
     44Moments of inertia: ( kilograms * square meters )
    4545Taken at the center of mass and aligned with the output coordinate system.
    46  || Lxx = 0.0006986 || Lxy = 2.7577e-007 || Lxz = -7.8138e-007
    47  || Lyx = 2.7577e-007 || Lyy = 0.00050354 || Lyz = -6.44e-005
    48  || Lzx = -7.8138e-007 || Lzy = -6.44e-005 || Lzz = 0.00062253
    49 
    50 Moments of inertia: (kilograms * square meters)
     46|| Lxx = 0.00040811 || Lxy = 0.00000082 || Lxz = 0.00000048
     47|| Lyx = 0.00000082 || Lyy = 0.00040009 || Lyz = -0.00002736
     48|| Lzx = 0.00000048 || Lzy = -0.00002736 || Lzz = 0.00022400
     49
     50Moments of inertia: ( kilograms * square meters )
    5151Taken at the output coordinate system.
    52  || Ixx = 0.001556 || Ixy = 1.4013e-007 || Ixz = 3.5309e-007
    53  || Iyx = 1.4013e-007 || Iyy = 0.0013488 || Iyz = -0.00016547
    54  || Izx = 3.5309e-007 || Izy = -0.00016547 || Izz = 0.00063461
     52|| Ixx = 0.00086379 || Ixy = 0.00000051 || Ixz = 0.00000055
     53|| Iyx = 0.00000051 || Iyy = 0.00041950 || Iyz = -0.00011939
     54|| Izx = 0.00000055 || Izy = -0.00011939 || Izz = 0.00066026
    5555
    5656== Mass Properties for Frame W (hand base frame) without palm pad ==
    … …  
    6060Output coordinate System: Frame W (opaque)
    6161
    62 Mass = 0.59573 kilograms
    63 
    64 Volume = 0.00023933 cubic meters
    65 
    66 Surface area = 0.23262 square meters
    67 
    68 Center of mass: (meters)
    69  X = 5.1098e-005
    70  Y = -0.0050433
    71  Z = 0.036671
    72 
    73 Principal axes of inertia and principal moments of inertia: (kilograms * square meters)
     62Mass = 0.34867 kilograms
     63
     64Volume = 0.00010856 cubic meters
     65
     66Surface area = 0.16889 square meters
     67
     68Center of mass: ( meters )
     69 X = -2.63759e-005 Y = 0.033662 Z = -0.0087593
     70
     71Principal axes of inertia and principal moments of inertia: ( kilograms * square meters )
    7472Taken at the center of mass.
    75  || Ix = (0.0027331, 0.90166, -0.43244) || Px = 0.00045391
    76  || Iy = (0.01699, -0.43242, -0.90151) || Py = 0.00063852
    77  || Iz = (-0.99985, -0.0048831, -0.016501) || Pz = 0.00067156
    78 
    79 Moments of inertia: (kilograms * square meters)
     73|| Ix = (0.0017695, -0.19274, 0.98124) || Px = 0.00020570
     74|| Iy = (0.81607, 0.56738, 0.10998) || Py = 0.00037703
     75|| Iz = (-0.57794, 0.80057, 0.15830) || Pz = 0.00037892
     76
     77Moments of inertia: ( kilograms * square meters )
    8078Taken at the center of mass and aligned with the output coordinate system.
    81  || Lxx = 0.00067154 || Lxy = 2.9365e-007 || Lxz = -7.6321e-007
    82  || Lyx = 2.9365e-007 || Lyy = 0.00048844 || Lyz = -7.1984e-005
    83  || Lzx = -7.6321e-007 || Lzy = -7.1984e-005 || Lzz = 0.00060401
    84 
    85 Moments of inertia: (kilograms * square meters)
     79|| Lxx = 0.00037765 || Lxy = 8.17141e-007 || Lxz = 4.70601e-007
     80|| Lyx = 8.17141e-007 || Lyy = 0.00037187 || Lyz = -3.26426e-005
     81|| Lzx = 4.70601e-007 || Lzy = -3.26426e-005 || Lzz = 0.00021211
     82
     83Moments of inertia: ( kilograms * square meters )
    8684Taken at the output coordinate system.
    87  || Ixx = 0.0014878 || Ixy = 1.4013e-007 || Ixz = 3.5309e-007
    88  || Iyx = 1.4013e-007 || Iyy = 0.0012896 || Iyz = -0.00018216
    89  || Izx = 3.5309e-007 || Izy = -0.00018216 || Izz = 0.00061916
     85|| Ixx = 0.00079952 || Ixy = 5.07559e-007 || Ixz = 5.51157e-007
     86|| Iyx = 5.07559e-007 || Iyy = 0.00039862 || Iyz = -0.00013545
     87|| Izx = 5.51157e-007 || Izy = -0.00013545 || Izz = 0.00060722
    9088
    9189