Difference between revisions of "Dynamic Information"
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===Center of Mass (m)=== | ===Center of Mass (m)=== | ||
| − | {| style="border-collapse: separate; border-spacing: 15; border-width: 2px; border-style: solid; border-color: #CCCCCC; padding: 0px; text-align: center | + | {| style="border-collapse: separate; border-spacing: 15; border-width: 2px; border-style: solid; border-color: #CCCCCC; padding: 0px; text-align: center; " |
|style="width: 79px; background-color:#f5f5f5;"| '''Mass''' | |style="width: 79px; background-color:#f5f5f5;"| '''Mass''' | ||
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===Inertial Tensor (kg*m{{sup|2}})=== | ===Inertial Tensor (kg*m{{sup|2}})=== | ||
| − | {| style="border-collapse: separate; border-spacing: 15; border-width: 2px; border-style: solid; border-color: #CCCCCC; padding: 0px; text-align: center | + | {| style="border-collapse: separate; border-spacing: 15; border-width: 2px; border-style: solid; border-color: #CCCCCC; padding: 0px; text-align: center; " |
|style="width: 25px; background-color:#f5f5f5;"| '''I{{sub|xx}}''' | |style="width: 25px; background-color:#f5f5f5;"| '''I{{sub|xx}}''' | ||
|style="width: 25px; background-color:#f5f5f5;"| '''I{{sub|xy}}''' | |style="width: 25px; background-color:#f5f5f5;"| '''I{{sub|xy}}''' | ||
|style="width: 25px; background-color:#f5f5f5;"| '''I{{sub|xz}}''' | |style="width: 25px; background-color:#f5f5f5;"| '''I{{sub|xz}}''' | ||
| − | | 2.654e-01 | + | |style="width: 100px;"| 2.654e-01 |
| + | |style="width: 100px;"| 2.029e-04 | ||
| + | |style="width: 100px;"| 9.871e-05 | ||
|- | |- | ||
| Line 42: | Line 44: | ||
|style="width: 25px; background-color:#f5f5f5;"| '''I{{sub|yy}}''' | |style="width: 25px; background-color:#f5f5f5;"| '''I{{sub|yy}}''' | ||
|style="width: 25px; background-color:#f5f5f5;"| '''I{{sub|yz}}''' | |style="width: 25px; background-color:#f5f5f5;"| '''I{{sub|yz}}''' | ||
| − | |2.029e-04 || | + | |style="width: 100px;"| 2.029e-04 |
| + | |style="width: 100px;"| 6.379e-02 | ||
| + | |style="width: 100px;"| 3.037e-03 | ||
|- | |- | ||
| Line 48: | Line 52: | ||
|style="width: 25px; background-color:#f5f5f5;"| '''I{{sub|zy}}''' | |style="width: 25px; background-color:#f5f5f5;"| '''I{{sub|zy}}''' | ||
|style="width: 25px; background-color:#f5f5f5;"| '''I{{sub|zz}}''' | |style="width: 25px; background-color:#f5f5f5;"| '''I{{sub|zz}}''' | ||
| − | | 9.871e-05 || | + | |style="width: 100px;"| 9.871e-05 |
| + | |style="width: 100px;"| 3.037e-03 | ||
| + | |style="width: 100px;"| 3.093e-01 | ||
|} | |} | ||
Revision as of 14:38, 5 December 2013
TODO: Something!
SEE AML
Contents |
Body (Base Link)
Mass (kg)
Center of Mass (m)
| Mass | X |
| X | Y | Z | X | 9.291e-03 | 5.294e-03 m |
Inertial Tensor (kg*m2)
| Ixx | Ixy | Ixz | 2.654e-01 | 2.029e-04 | 9.871e-05 |
| Iyx | Iyy | Iyz | 2.029e-04 | 6.379e-02 | 3.037e-03 |
| Izx | Izy | Izz | 9.871e-05 | 3.037e-03 | 3.093e-01 |
Note See the link inertial tensor convention below.
Link Inertial Tensor Convention
The components of tensors of degree two can be assembled into a matrix. For the inertia tensor this matrix is given by,
It is common in rigid body mechanics to use notation that explicitly identifies the x, y, and z axes, such as Ixx and Ixy, for the components of the inertia tensor.
(courtesy of Wikipedia)
