T14 - Masses - V 3.2¶

Legend¶

This page details, for each solid (S) of a robot, the Mass, Center of Mass and Inertial matrix.

$\text{Mass (kg)}$

$\text{CoM(S)} = \left[\begin{array}{c} X_G \\ Y_G \\ Z_G \end{array} \right]_{(o, R)} \text{(m)}$

$\left[I_o(S)\right]_R = \left[\begin{array}{ccc} I_{xx} & I_{xy} & I_{xz} \\ I_{yx} & I_{yy} & I_{yz} \\ I_{zx} & I_{zy} & I_{zz} \end{array}\right]_R (\text{kg}*\text{m}^2)$

The Center of Mass position and the Inertial matrix are described relative to the local coordinate system of the current solid (S) (o, R).

All solids (S) and local coordinate system are described relative to the zero posture: with straight arms pointing forwards.

Whole robot¶

$\text{Mass} = 2.5$

Torso¶

(o, R) is located on: Torso.

$\text{Mass} = 1.05767$

$\text{CoM(S)} = \left[ \begin{array}{c} -0.00544 \\ 0.00005 \\ -0.01049 \end{array} \right]_{(o, R)}$

$\left[I_o(S)\right]_R = \left[ \begin{array}{ccc} 0.00407798983 & 0.00001905036 & -0.00009699419 \\ 0.00001905036 & 0.00383666587 & -0.00000729520 \\ -0.00009699419 & -0.00000729520 & 0.00191346075 \\ \end{array} \right]_R$

Head¶

Neck¶

(o, R) is located on the joint: HeadYaw.

$\text{Mass} = 0.05959$

$CoM(S) = \left[ \begin{array}{c} -0.00003 \\ +0.00018 \\ -0.02573 \end{array} \right]_{(o, R)}$

$[I_O(S)]_R = \left[ \begin{array}{ccc} +0.00006223368 & -0.00000000042 & -0.00000007448 \\ -0.00000000042 & +0.00006324431 & -0.00000010416 \\ -0.00000007448 & -0.00000010416 & +0.00000549462 \end{array} \right]_R$

Head¶

(o, R) is located on the joint: HeadPitch.

$\text{Mass} = 0.47671$

$CoM(S) = \left[ \begin{array}{c} +0.00383 \\ -0.00093 \\ +0.05156 \end{array} \right]_{(o, R)}$

$[I_O(S)]_R = \left[ \begin{array}{ccc} +0.00208895741 & -0.00000549094 & -0.00011339950 \\ -0.00000549094 & +0.00193222263 & +0.00002803917 \\ -0.00011339950 & +0.00002803917 & +0.00082257793 \end{array} \right]_R$

Arms¶

Right Shoulder¶

(o, R) is located on the joint: RShoulderPitch.

../../_images/hardware_rshouldermass.png

$\text{Mass} = 0.06984$

$CoM(S) = \left[ \begin{array}{c} -0.00178 \\ +0.02507 \\ +0.00019 \end{array} \right]_{(o, R)}$

$[I_O(S)]_R = \left[ \begin{array}{ccc} +0.00007101854 & +0.00000202458 & +0.00000001713 \\ +0.00000202458 & +0.00001404920 & +0.00000004410 \\ +0.00000001713 & +0.00000004410 & +0.00007314467 \end{array} \right]_R$

Left Shoulder¶

(o, R) is located on the joint: LShoulderPitch.

$\text{Mass} = 0.06984$

$CoM(S) = \left[ \begin{array}{c} -0.00178 \\ -0.02507 \\ +0.00019 \end{array} \right]_{(o, R)}$

$[I_O(S)]_R = \left[ \begin{array}{ccc} +0.00007101854 & -0.00000202458 & +0.00000001713 \\ -0.00000202458 & +0.00001404920 & -0.00000004410 \\ +0.00000001713 & -0.00000004410 & +0.00007314467 \end{array} \right]_R$

Right Bicep¶

(o, R) is located on the joint: RShoulderRoll.

$\text{Mass} = 0.12166$

$CoM(S) = \left[ \begin{array}{c} +0.02067 \\ -0.00388 \\ +0.00362 \end{array} \right]_{(o, R)}$

$[I_O(S)]_R = \left[ \begin{array}{ccc} +0.00005931793 & +0.00000193929 & -0.00001564503 \\ +0.00000193929 & +0.00020221058 & +0.00000368731 \\ -0.00001564503 & +0.00000368731 & +0.00018421556 \end{array} \right]_R$

Left Bicep¶

(o, R) is located on the joint: LShoulderRoll.

$\text{Mass} = 0.12166$

$CoM(S) = \left[ \begin{array}{c} +0.02067 \\ +0.00388 \\ +0.00362 \end{array} \right]_{(o, R)}$

$[I_O(S)]_R = \left[ \begin{array}{ccc} +0.00005931793 & -0.00000193929 & -0.00001564503 \\ -0.00000193929 & +0.00020221058 & -0.00000368731 \\ -0.00001564503 & -0.00000368731 & +0.00018421556 \end{array} \right]_R$

Right Elbow¶

(o, R) is located on the joint: RElbowYaw.

$\text{Mass} = 0.05959$

$CoM(S) = \left[ \begin{array}{c} -0.02573 \\ +0.00001 \\ -0.00020 \end{array} \right]_{(o, R)}$

$[I_O(S)]_R = \left[ \begin{array}{ccc} +0.00000549462 & +0.00000002242 & +0.00000006771 \\ +0.00000002242 & +0.00006224789 & -0.00000000559 \\ +0.00000006771 & -0.00000000559 & +0.00006323010 \end{array} \right]_R$

Left Elbow¶

(o, R) is located on the joint: LElbowYaw.

$\text{Mass} = 0.05959$

$CoM(S) = \left[ \begin{array}{c} -0.02573 \\ -0.00001 \\ -0.00020 \end{array} \right]_{(o, R)}$

$[I_O(S)]_R = \left[ \begin{array}{ccc} +0.00000549462 & -0.00000002242 & +0.00000006771 \\ -0.00000002242 & +0.00006224789 & +0.00000000559 \\ +0.00000006771 & +0.00000000559 & +0.00006323010 \end{array} \right]_R$

Right Motorized ForeArm¶

(o, R) is located on the joint: RElbowRoll.

../../_images/hardware_rmotorizedforearmmass.png

$\text{Mass} = 0.03770$

$CoM(S) = \left[ \begin{array}{c} +0.01940 \\ -0.00304 \\ +0.00250 \end{array} \right]_{(o, R)}$

$[I_O(S)]_R = \left[ \begin{array}{ccc} +0.00001271101 & +0.00000131460 & -0.00000143626 \\ +0.00000131460 & +0.00003056901 & +0.00000020686 \\ -0.00000143626 & +0.00000020686 & +0.00002976287 \end{array} \right]_R$

Left Motorized ForeArm¶

(o, R) is located on the joint: LElbowRoll.

$\text{Mass} = 0.03770$

$CoM(S) = \left[ \begin{array}{c} +0.01940 \\ +0.00304 \\ +0.00250 \end{array} \right]_{(o, R)}$

$[I_O(S)]_R = \left[ \begin{array}{ccc} +0.00001271101 & -0.00000131460 & -0.00000143626 \\ -0.00000131460 & +0.00003056901 & -0.00000020686 \\ -0.00000143626 & -0.00000020686 & +0.00002976287 \end{array} \right]_R$

Hands - motorized¶

Right Motorized Hand¶

(o, R) is located on the joint: RWristYaw.

../../_images/hardware_rmotorizedhandmass.png

$\text{Mass} = 0.14314$

$CoM(S) = \left[ \begin{array}{c} +0.03241 \\ -0.00268 \\ -0.00272 \end{array} \right]_{(o, R)}$

$[I_O(S)]_R = \left[ \begin{array}{ccc} +0.00005692620 & +0.00000822213 & +0.00001136287 \\ +0.00000822213 & +0.00027230907 & -0.00000181780 \\ +0.00001136287 & -0.00000181780 & +0.00026611399 \end{array} \right]_R$

Left Motorized Hand¶

(o, R) is located on the joint: LWristYaw.

$\text{Mass} = 0.14314$

$CoM(S) = \left[ \begin{array}{c} +0.03241 \\ +0.00268 \\ -0.00272 \end{array} \right]_{(o, R)}$

$[I_O(S)]_R = \left[ \begin{array}{ccc} +0.00005692620 & -0.00000822213 & +0.00001136287 \\ -0.00000822213 & +0.00027230907 & +0.00000181780 \\ +0.00001136287 & +0.00000181780 & +0.00026611399 \end{array} \right]_R$

NAO Software 1.14.5 documentation

T14 - Masses - V 3.2¶

Legend¶

Whole robot¶

Torso¶