< ATRIAS 2.1 Handbook < Technical Specifications < Solid Model Specifications < Leg Sub-assembly Mass and Inertia's

Drive Assembly

Drive Assembly WITH Motor Rotors

Updated: 4/9/2013

DriveAssembly with Motor Rotors included

Mass = 14.08053732 kilograms

Center of mass: ( meters )

X = 0.01491251
Y = 0.02897855
Z = 0.00105929

Principal axes of inertia and principal moments of inertia: ( kilograms * square meters ) Taken at the center of mass.

Ix = (0.29816919, 0.95259188, 0.06052970)Px = 0.07562156
Iy = (-0.86011725, 0.29563757, -0.41568828)Py = 0.28624760
Iz = (-0.41387613, 0.07188280, 0.90749072)Pz = 0.29650450

Moments of inertia: ( kilograms * square meters ) Taken at the center of mass and aligned with the output coordinate system.

Lxx = 0.26927886Lxy = 0.06013001Lxz = 0.00765377
Lyx = 0.06013001Lyy = 0.09517194Lyz = 0.01147563
Lzx = 0.00765377Lzy = 0.01147563Lzz = 0.29392286

Moments of inertia: ( kilograms * square meters ) Taken at the output coordinate system.

Ixx = 0.28111888Ixy = 0.06621481Ixz = 0.00787620
Iyx = 0.06621481Iyy = 0.09831901Iyz = 0.01190786
Izx = 0.00787620Izy = 0.01190786Izz = 0.30887835

Drive Assembly WITHOUT Motor Rotors

Updated: 4/9/2013

Mass = 11.6828 kilograms

Center of mass: ( meters )

X = 0.0180
Y = 0.0349
Z = 0.0013

Principal axes of inertia and principal moments of inertia: ( kilograms * square meters ) Taken at the center of mass.

Ix = (0.2924, 0.9544, 0.0609)Px = 0.0678
Iy = (-0.8094, 0.2809, -0.5157)Py = 0.2772
Iz = (-0.5093, 0.1015, 0.8546)Pz = 0.2861

Moments of inertia: ( kilograms * square meters ) Taken at the center of mass and aligned with the output coordinate system.

Lxx = 0.2616Lxy = 0.0589Lxz = 0.0076
Lyx = 0.0589Lyy = 0.0866Lyz = 0.0114
Lzx = 0.0076Lzy = 0.0114Lzz = 0.2829

Moments of inertia: ( kilograms * square meters ) Taken at the output coordinate system.

Ixx = 0.2759Ixy = 0.0662Ixz = 0.0079
Iyx = 0.0662Iyy = 0.0904Iyz = 0.0119
Izx = 0.0079Izy = 0.0119Izz = 0.3009

Motor Rotors (Without drive assembly

Updated: 4/9/2013

Mass = 1.8144 kilograms

Center of mass: ( meters )

X = 0.0000
Y = 0.0000
Z = 0.0000

Principal axes of inertia and principal moments of inertia: ( kilograms * square meters ) Taken at the center of mass.

Ix = (1.0000, 0.0000, 0.0000)Px = 0.0039
Iy = (0.0000, 0.0000, -1.0000)Py = 0.0049
Iz = (0.0000, 1.0000, 0.0000)Pz = 0.0049

Moments of inertia: ( kilograms * square meters ) Taken at the center of mass and aligned with the output coordinate system.

Lxx = 0.0039Lxy = 0.0000Lxz = 0.0000
Lyx = 0.0000Lyy = 0.0049Lyz = 0.0000
Lzx = 0.0000Lzy = 0.0000Lzz = 0.0049

Moments of inertia: ( kilograms * square meters ) Taken at the output coordinate system.

Ixx = 0.0039Ixy = 0.0000Ixz = 0.0000
Iyx = 0.0000Iyy = 0.0049Iyz = 0.0000
Izx = 0.0000Izy = 0.0000Izz = 0.0049
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