Jump to: navigation, search

Difference between revisions of "Dynamic Information"

 
(11 intermediate revisions by one user not shown)
Line 2: Line 2:
  
 
SEE AML
 
SEE AML
 +
 +
{{note}} See the [[#Link Inertial Tensor Convention|link inertial tensor convention]] below.
  
 
==Body (Base Link)==
 
==Body (Base Link)==
Line 9: Line 11:
 
===Mass (kg)===
 
===Mass (kg)===
  
 +
{{dynamics_mass| 9.251e+00}}
  
 +
===Center of Mass (m)===
  
 +
{{dynamics_com|-1.811e-03|9.291e-03|5.294e-03}}
  
 +
===Inertial Tensor (kg*m{{sup|2}})===
 +
 +
{{dynamics_inertia|2.654e-01|2.029e-04|9.871e-05|2.029e-04|6.379e-02|3.037e-03|9.871e-05|3.037e-03|3.093e-01}}
 +
 +
==Front-Right, Link 1 (FR1)==
 +
 +
[[fr1_coord_frame.png]]
 +
 +
===Mass (kg)===
 +
 +
{{dynamics_mass|9.339e-01}}
  
 
===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;  width: 200px;"
 
  
|style="width: 79px; background-color:#f5f5f5;"| '''Mass'''
+
{{dynamics_com|2.822e-02|-2.367e-04|-5.227e-02}}
| X
+
|}
+
{| style="border-collapse: separate; border-spacing: 15; border-width: 2px; border-style: solid; border-color: #CCCCCC; padding:  0px; text-align: center;  width: 400px;"
+
  
|style="width: 25px; background-color:#f5f5f5;"| '''X'''
+
===Inertial Tensor (kg*m{{sup|2}})===
|style="width: 25px; background-color:#f5f5f5;"| '''Y'''
+
 
|style="width: 25px; background-color:#f5f5f5;"| '''Z'''
+
{{dynamics_inertia|3.929e-03|0.000e-03|1.837e-03|0.000e-03|5.348e-03|5.651e-07|1.837e-03|5.651e-07|2.316e-03}}
|style="width: 80px;"| X
+
 
|style="width: 80px;"| 9.291e-03
+
==Front-Right, Link 2 (FR2)==
|style="width: 80px;"| 5.294e-03 m
+
 
|}
+
[[fr2_coord_frame.png]]
 +
 
 +
===Mass (kg)===
 +
 
 +
{{dynamics_mass|1.252e+00}}
 +
 
 +
===Center of Mass (m)===
 +
 
 +
{{dynamics_com|-2.405e-02|8.202e-05|-6.794e-02}}
  
 
===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;  width: 388px;"
+
{{dynamics_inertia|9.146e-03|8.441e-07|-1.803e-03|8.441e-07|1.135e-02|8.961e-06|-1.803e-03|8.961e-06|2.764e-03}}
  
|style="width: 25px; background-color:#f5f5f5;"| '''I{{sub|xx}}'''
+
==Front-Right, Link 3 (FR3)==
|style="width: 25px; background-color:#f5f5f5;"| '''I{{sub|xy}}'''
+
|style="width: 25px; background-color:#f5f5f5;"| '''I{{sub|xz}}'''
+
| 2.654e-01  || 2.029e-04  || 9.871e-05
+
  
|-
+
[[fr3_coord_frame.png]]
|style="width: 25px; background-color:#f5f5f5;"| '''I{{sub|yx}}'''
+
|style="width: 25px; background-color:#f5f5f5;"| '''I{{sub|yy}}'''
+
|style="width: 25px; background-color:#f5f5f5;"| '''I{{sub|yz}}'''
+
|2.029e-04 ||  6.379e-02 || 3.037e-03
+
  
|-
+
===Mass (kg)===
|style="width: 25px; background-color:#f5f5f5;"| '''I{{sub|zx}}'''
+
|style="width: 25px; background-color:#f5f5f5;"| '''I{{sub|zy}}'''
+
|style="width: 25px; background-color:#f5f5f5;"| '''I{{sub|zz}}'''
+
| 9.871e-05 ||  3.037e-03 ||  3.093e-01
+
|}
+
  
 +
{{dynamics_mass|4.558e-01}}
  
{{note}} See the [[#Link Inertial Tensor Convention|link inertial tensor convention]] below.
+
===Center of Mass (m)===
  
 +
{{dynamics_com|2.087e-03|-4.787e-06|-6.086e-02}}
  
 +
===Inertial Tensor (kg*m{{sup|2}})===
  
 +
{{dynamics_inertia|3.198e-03|-1.679e-09|3.125e-06|-1.679e-09|3.266e-03|-1.949e-07|3.125e-06|-1.949e-07|1.255e-04}}
 +
 +
==Front-Right, Link 4 (FR4)==
 +
 +
[[fr4_coord_frame.png]]
 +
 +
===Mass (kg)===
 +
 +
{{dynamics_mass|1.807e-01}}
 +
 +
===Center of Mass (m)===
 +
 +
{{dynamics_com|0.000e-03|0.000e-03|3.880e-02}}
 +
 +
===Inertial Tensor (kg*m{{sup|2}})===
 +
 +
{{dynamics_inertia|5.187e-04|0.000e-03|0.000e-03|0.000e-03|5.207e-04|0.000e-03|0.000e-03|0.000e-03|2.116e-05}}
 +
 +
==Front-Left, Link 1 (FL1)==
 +
 +
[[fl1_coord_frame.png]]
 +
 +
===Mass (kg)===
 +
 +
{{dynamics_mass|9.339e-01}}
 +
 +
===Center of Mass (m)===
 +
 +
{{dynamics_com|-2.822e-02|-2.367e-04|-5.227e-02}}
 +
 +
===Inertial Tensor (kg*m{{sup|2}})===
 +
 +
{{dynamics_inertia|3.929e-03|0.000e-03|-1.837e-03|0.000e-03|5.348e-03|5.648e-07|-1.837e-03|5.648e-04|2.316e-03}}
 +
 +
==Front-Left, Link 2 (FL2)==
 +
 +
[[fl2_coord_frame.png]]
 +
 +
===Mass (kg)===
 +
 +
{{dynamics_mass|1.252e+00}}
 +
 +
===Center of Mass (m)===
 +
 +
{{dynamics_com|2.405e-02|-4.712e-05|-6.794e-02}}
 +
 +
===Inertial Tensor (kg*m{{sup|2}})===
 +
 +
{{dynamics_inertia|9.146e-03|1.888e-07|1.803e-03|1.888e-07|1.135e-02|-7.516e-06|1.803e-03|-7.516e-06|2.764e-03}}
 +
 +
==Front-Left, Link 3 (FL3)==
 +
 +
[[fl3_coord_frame.png]]
 +
 +
===Mass (kg)===
 +
 +
{{dynamics_mass|4.558e-01}}
 +
 +
===Center of Mass (m)===
 +
 +
{{dynamics_com|-2.087e-03|4.787e-06|-6.086e-02}}
 +
 +
===Inertial Tensor (kg*m{{sup|2}})===
 +
 +
{{dynamics_inertia|3.198e-03|-1.679e-09|-3.125e-06|-1.679e-09|3.266e-03|1.949e-07|-3.125e-06|1.949e-07|1.255e-04}}
 +
 +
==Front-Left, Link 4 (FL4)==
 +
 +
[[fl4_coord_frame.png]]
 +
 +
===Mass (kg)===
 +
 +
{{dynamics_mass|1.807e-01}}
 +
 +
===Center of Mass (m)===
 +
 +
{{dynamics_com|0.000e-03|0.000e-03|3.880e-02}}
 +
 +
===Inertial Tensor (kg*m{{sup|2}})===
 +
 +
{{dynamics_inertia|5.187e-04|0.000e-03|0.000e-03|0.000e-03|5.207e-04|0.000e-03|0.000e-03|0.000e-03|2.116e-05}}
 +
 +
==Rear-Right, Link 1 (RR1)==
 +
 +
[[rr1_coord_frame.png]]
 +
 +
===Mass (kg)===
 +
 +
{{dynamics_mass|9.339e-01}}
 +
 +
===Center of Mass (m)===
 +
 +
{{dynamics_com|-2.822e-02|-2.367e-04|-5.227e-02}}
 +
 +
===Inertial Tensor (kg*m{{sup|2}})===
 +
 +
{{dynamics_inertia|3.929e-03|0.000e-03|-1.837e-03|0.000e-03|5.348e-03|5.648e-07|-1.837e-03|5.648e-07|2.316e-03}}
 +
 +
==Rear-Right, Link 2 (RR2)==
 +
 +
[[rr2_coord_frame.png]]
 +
 +
===Mass (kg)===
 +
 +
{{dynamics_mass|1.252e+00}}
 +
 +
===Center of Mass (m)===
 +
 +
{{dynamics_com|2.405e-02|-4.712e-05|-6.794e-02}}
 +
 +
===Inertial Tensor (kg*m{{sup|2}})===
 +
 +
{{dynamics_inertia|9.146e-03|1.888e-07|1.803e-03|1.888e-07|1.135e-02|-7.516e-06|1.803e-03|-7.516e-06|2.764e-03}}
 +
 +
==Rear-Right, Link 3 (RR3)==
 +
 +
[[rr3_coord_frame.png]]
 +
 +
===Mass (kg)===
 +
 +
{{dynamics_mass|4.558e-01}}
 +
 +
===Center of Mass (m)===
 +
 +
{{dynamics_com|-2.087e-03|4.787e-06|-6.086e-02}}
 +
 +
===Inertial Tensor (kg*m{{sup|2}})===
 +
 +
{{dynamics_inertia|3.198e-03|-1.679e-09|-3.125e-06|-1.679e-09|3.266e-03|1.949e-07|-3.125e-06|1.949e-07|1.255e-04}}
 +
 +
==Rear-Right, Link 4 (RR4)==
 +
 +
[[rr4_coord_frame.png]]
 +
 +
===Mass (kg)===
 +
 +
{{dynamics_mass|1.807e-01}}
 +
 +
===Center of Mass (m)===
 +
 +
{{dynamics_com|0.000e-03|0.000e-03|3.880e-02}}
 +
 +
===Inertial Tensor (kg*m{{sup|2}})===
 +
 +
{{dynamics_inertia|5.187e-04|0.000e-03|0.000e-03|0.000e-03|5.207e-04|0.000e-03|0.000e-03|0.000e-03|2.116e-05}}
 +
 +
==Rear-Left, Link 1 (RL1)==
 +
 +
[[rl1_coord_frame.png]]
 +
 +
===Mass (kg)===
 +
 +
{{dynamics_mass|9.339e-01}}
 +
 +
===Center of Mass (m)===
 +
 +
{{dynamics_com|2.822e-02|-2.367e-04|-5.227e-02}}
 +
 +
===Inertial Tensor (kg*m{{sup|2}})===
 +
 +
{{dynamics_inertia|3.929e-03|0.000e-03|1.837e-03|0.000e-03|5.348e-03|5.651e-07|1.837e-03|5.651e-07|2.316e-03}}
 +
 +
==Rear-Left, Link 2 (RL2)==
 +
 +
[[rl2_coord_frame.png]]
 +
 +
===Mass (kg)===
 +
 +
{{dynamics_mass|1.252e+00}}
 +
 +
===Center of Mass (m)===
 +
 +
{{dynamics_com|-2.405e-02|8.202e-05|-6.794e-02}}
 +
 +
===Inertial Tensor (kg*m{{sup|2}})===
 +
 +
{{dynamics_inertia|9.146e-03|8.441e-07|-1.803e-03|8.441e-07|1.135e-02|8.961e-06|-1.803e-03|8.961e-06|2.764e-03}}
 +
 +
==Rear-Left, Link 3 (RL3)==
 +
 +
[[rl3_coord_frame.png]]
 +
 +
===Mass (kg)===
 +
 +
{{dynamics_mass|4.558e-01}}
 +
 +
===Center of Mass (m)===
 +
 +
{{dynamics_com|2.087e-03|-4.787e-06|-6.086e-02}}
 +
 +
===Inertial Tensor (kg*m{{sup|2}})===
 +
 +
{{dynamics_inertia|3.198e-03|-1.679e-09|3.125e-06|-1.679e-09|3.266e-03|-1.949e-07|3.125e-06|-1.949e-07|1.255e-04}}
 +
 +
==Rear-Left, Link 4 (RL4)==
 +
 +
 +
[[rl4_coord_frame.png]]
 +
 +
===Mass (kg)===
 +
 +
{{dynamics_mass|1.807e-01}}
 +
 +
===Center of Mass (m)===
 +
 +
{{dynamics_com|0.000e-03|0.000e-03|3.880e-02}}
 +
 +
===Inertial Tensor (kg*m{{sup|2}})===
  
 +
{{dynamics_inertia|5.187e-04|0.000e-03|0.000e-03|0.000e-03|5.207e-04|0.000e-03|0.000e-03|0.000e-03|2.116e-05}}
  
 
==Link Inertial Tensor Convention==
 
==Link Inertial Tensor Convention==

Latest revision as of 17:55, 5 December 2013

TODO: Something!

SEE AML

Note See the link inertial tensor convention below.

Contents

Body (Base Link)

body_coord_frame.png

Mass (kg)

Mass 9.251e+00

Center of Mass (m)

X Y Z -1.811e-03 9.291e-03 5.294e-03

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

Front-Right, Link 1 (FR1)

fr1_coord_frame.png

Mass (kg)

Mass 9.339e-01

Center of Mass (m)

X Y Z 2.822e-02 -2.367e-04 -5.227e-02

Inertial Tensor (kg*m2)

Ixx Ixy Ixz 3.929e-03 0.000e-03 1.837e-03
Iyx Iyy Iyz 0.000e-03 5.348e-03 5.651e-07
Izx Izy Izz 1.837e-03 5.651e-07 2.316e-03

Front-Right, Link 2 (FR2)

fr2_coord_frame.png

Mass (kg)

Mass 1.252e+00

Center of Mass (m)

X Y Z -2.405e-02 8.202e-05 -6.794e-02

Inertial Tensor (kg*m2)

Ixx Ixy Ixz 9.146e-03 8.441e-07 -1.803e-03
Iyx Iyy Iyz 8.441e-07 1.135e-02 8.961e-06
Izx Izy Izz -1.803e-03 8.961e-06 2.764e-03

Front-Right, Link 3 (FR3)

fr3_coord_frame.png

Mass (kg)

Mass 4.558e-01

Center of Mass (m)

X Y Z 2.087e-03 -4.787e-06 -6.086e-02

Inertial Tensor (kg*m2)

Ixx Ixy Ixz 3.198e-03 -1.679e-09 3.125e-06
Iyx Iyy Iyz -1.679e-09 3.266e-03 -1.949e-07
Izx Izy Izz 3.125e-06 -1.949e-07 1.255e-04

Front-Right, Link 4 (FR4)

fr4_coord_frame.png

Mass (kg)

Mass 1.807e-01

Center of Mass (m)

X Y Z 0.000e-03 0.000e-03 3.880e-02

Inertial Tensor (kg*m2)

Ixx Ixy Ixz 5.187e-04 0.000e-03 0.000e-03
Iyx Iyy Iyz 0.000e-03 5.207e-04 0.000e-03
Izx Izy Izz 0.000e-03 0.000e-03 2.116e-05

Front-Left, Link 1 (FL1)

fl1_coord_frame.png

Mass (kg)

Mass 9.339e-01

Center of Mass (m)

X Y Z -2.822e-02 -2.367e-04 -5.227e-02

Inertial Tensor (kg*m2)

Ixx Ixy Ixz 3.929e-03 0.000e-03 -1.837e-03
Iyx Iyy Iyz 0.000e-03 5.348e-03 5.648e-07
Izx Izy Izz -1.837e-03 5.648e-04 2.316e-03

Front-Left, Link 2 (FL2)

fl2_coord_frame.png

Mass (kg)

Mass 1.252e+00

Center of Mass (m)

X Y Z 2.405e-02 -4.712e-05 -6.794e-02

Inertial Tensor (kg*m2)

Ixx Ixy Ixz 9.146e-03 1.888e-07 1.803e-03
Iyx Iyy Iyz 1.888e-07 1.135e-02 -7.516e-06
Izx Izy Izz 1.803e-03 -7.516e-06 2.764e-03

Front-Left, Link 3 (FL3)

fl3_coord_frame.png

Mass (kg)

Mass 4.558e-01

Center of Mass (m)

X Y Z -2.087e-03 4.787e-06 -6.086e-02

Inertial Tensor (kg*m2)

Ixx Ixy Ixz 3.198e-03 -1.679e-09 -3.125e-06
Iyx Iyy Iyz -1.679e-09 3.266e-03 1.949e-07
Izx Izy Izz -3.125e-06 1.949e-07 1.255e-04

Front-Left, Link 4 (FL4)

fl4_coord_frame.png

Mass (kg)

Mass 1.807e-01

Center of Mass (m)

X Y Z 0.000e-03 0.000e-03 3.880e-02

Inertial Tensor (kg*m2)

Ixx Ixy Ixz 5.187e-04 0.000e-03 0.000e-03
Iyx Iyy Iyz 0.000e-03 5.207e-04 0.000e-03
Izx Izy Izz 0.000e-03 0.000e-03 2.116e-05

Rear-Right, Link 1 (RR1)

rr1_coord_frame.png

Mass (kg)

Mass 9.339e-01

Center of Mass (m)

X Y Z -2.822e-02 -2.367e-04 -5.227e-02

Inertial Tensor (kg*m2)

Ixx Ixy Ixz 3.929e-03 0.000e-03 -1.837e-03
Iyx Iyy Iyz 0.000e-03 5.348e-03 5.648e-07
Izx Izy Izz -1.837e-03 5.648e-07 2.316e-03

Rear-Right, Link 2 (RR2)

rr2_coord_frame.png

Mass (kg)

Mass 1.252e+00

Center of Mass (m)

X Y Z 2.405e-02 -4.712e-05 -6.794e-02

Inertial Tensor (kg*m2)

Ixx Ixy Ixz 9.146e-03 1.888e-07 1.803e-03
Iyx Iyy Iyz 1.888e-07 1.135e-02 -7.516e-06
Izx Izy Izz 1.803e-03 -7.516e-06 2.764e-03

Rear-Right, Link 3 (RR3)

rr3_coord_frame.png

Mass (kg)

Mass 4.558e-01

Center of Mass (m)

X Y Z -2.087e-03 4.787e-06 -6.086e-02

Inertial Tensor (kg*m2)

Ixx Ixy Ixz 3.198e-03 -1.679e-09 -3.125e-06
Iyx Iyy Iyz -1.679e-09 3.266e-03 1.949e-07
Izx Izy Izz -3.125e-06 1.949e-07 1.255e-04

Rear-Right, Link 4 (RR4)

rr4_coord_frame.png

Mass (kg)

Mass 1.807e-01

Center of Mass (m)

X Y Z 0.000e-03 0.000e-03 3.880e-02

Inertial Tensor (kg*m2)

Ixx Ixy Ixz 5.187e-04 0.000e-03 0.000e-03
Iyx Iyy Iyz 0.000e-03 5.207e-04 0.000e-03
Izx Izy Izz 0.000e-03 0.000e-03 2.116e-05

Rear-Left, Link 1 (RL1)

rl1_coord_frame.png

Mass (kg)

Mass 9.339e-01

Center of Mass (m)

X Y Z 2.822e-02 -2.367e-04 -5.227e-02

Inertial Tensor (kg*m2)

Ixx Ixy Ixz 3.929e-03 0.000e-03 1.837e-03
Iyx Iyy Iyz 0.000e-03 5.348e-03 5.651e-07
Izx Izy Izz 1.837e-03 5.651e-07 2.316e-03

Rear-Left, Link 2 (RL2)

rl2_coord_frame.png

Mass (kg)

Mass 1.252e+00

Center of Mass (m)

X Y Z -2.405e-02 8.202e-05 -6.794e-02

Inertial Tensor (kg*m2)

Ixx Ixy Ixz 9.146e-03 8.441e-07 -1.803e-03
Iyx Iyy Iyz 8.441e-07 1.135e-02 8.961e-06
Izx Izy Izz -1.803e-03 8.961e-06 2.764e-03

Rear-Left, Link 3 (RL3)

rl3_coord_frame.png

Mass (kg)

Mass 4.558e-01

Center of Mass (m)

X Y Z 2.087e-03 -4.787e-06 -6.086e-02

Inertial Tensor (kg*m2)

Ixx Ixy Ixz 3.198e-03 -1.679e-09 3.125e-06
Iyx Iyy Iyz -1.679e-09 3.266e-03 -1.949e-07
Izx Izy Izz 3.125e-06 -1.949e-07 1.255e-04

Rear-Left, Link 4 (RL4)

rl4_coord_frame.png

Mass (kg)

Mass 1.807e-01

Center of Mass (m)

X Y Z 0.000e-03 0.000e-03 3.880e-02

Inertial Tensor (kg*m2)

Ixx Ixy Ixz 5.187e-04 0.000e-03 0.000e-03
Iyx Iyy Iyz 0.000e-03 5.207e-04 0.000e-03
Izx Izy Izz 0.000e-03 0.000e-03 2.116e-05

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,

Inertial matrix.png

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)