Changes between Version 3 and Version 4 of Hand/282/MassProperties


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Timestamp:
Jul 16, 2013, 5:30:11 PM (11 years ago)
Author:
dc
Comment:

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  • Hand/282/MassProperties

    v3 v4  
    1 = Inertial Tensors and Mass Properties for the BarrettHand BH8-280 =
    2 
    3 The inertial properties calculated here represent the masses and inertias of each link of the BarrettHand BH8-280. All calculations were made using SolidWorks 2012 SP 3.0 and CAD models that include all mechanical components of the hand (including fasteners) and all electrical components except wiring. To verify that the SolidWorks model was correct, assemblies and parts of an actual hand were massed for comparison.
     1= Inertial Tensors and Mass Properties for the BarrettHand BH8-282 =
     2
     3The inertial properties calculated here represent the masses and inertias of each link of the BarrettHand BH8-280. All calculations were made using SolidWorks 2013 SP 3.0 and CAD models that include all mechanical components of the hand (including fasteners) and all electrical components except wiring. To verify that the SolidWorks model was correct, assemblies and parts of an actual hand were massed for comparison.
    44
    55The mass of an actual finger was measured at 179 g, which matches the mass of the CAD model. The hand base (including pucks and finger motors) measured 664 g while SolidWorks calculated the mass of the CAD model to be only 643 g. This discrepancy could come from a number of sources: