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Sandbox2

Revision as of 12:01, 6 December 2013 by Moon (Talk | contribs)

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)

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