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RBE3001 3D Arm Mass & Inertia Properties
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| Mass properties of selected components | |
| Coordinate system: -- default -- | |
| Mass = 1.23 pounds | |
| Volume = 18.57 cubic inches | |
| Surface area = 327.84 square inches | |
| Center of mass: ( inches ) | |
| X = -4.92 | |
| Y = 2.65 | |
| Z = -0.61 | |
| Principal axes of inertia and principal moments of inertia: ( pounds * square inches ) | |
| Taken at the center of mass. | |
| Ix = (-0.62, 0.78, 0.05) Px = 3.92 | |
| Iy = (-0.78, -0.61, -0.08) Py = 23.34 | |
| Iz = (-0.03, -0.09, 1.00) Pz = 25.19 | |
| Moments of inertia: ( pounds * square inches ) | |
| Taken at the center of mass and aligned with the output coordinate system. | |
| Lxx = 15.90 Lxy = -9.43 Lxz = -0.60 | |
| Lyx = -9.43 Lyy = 11.43 Lyz = 0.99 | |
| Lzx = -0.60 Lzy = 0.99 Lzz = 25.12 | |
| Moments of inertia: ( pounds * square inches ) | |
| Taken at the output coordinate system. | |
| Ixx = 25.00 Ixy = -25.47 Ixz = 3.09 | |
| Iyx = -25.47 Iyy = 41.67 Iyz = -0.99 | |
| Izx = 3.09 Izy = -0.99 Izz = 63.54 | |
| Arm length: Base link: 137mm | |
| Mid link: 152mm | |
| Last link: 112mm |
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| Mass properties of selected components | |
| Coordinate system: -- default -- | |
| Mass = 0.33 pounds | |
| Volume = 5.35 cubic inches | |
| Surface area = 130.62 square inches | |
| Center of mass: ( inches ) | |
| X = -9.08 | |
| Y = 6.99 | |
| Z = -0.14 | |
| Principal axes of inertia and principal moments of inertia: ( pounds * square inches ) | |
| Taken at the center of mass. | |
| Ix = ( 0.99, -0.06, 0.09) Px = 0.16 | |
| Iy = ( 0.08, -0.19, -0.98) Py = 1.91 | |
| Iz = ( 0.08, 0.98, -0.18) Pz = 1.98 | |
| Moments of inertia: ( pounds * square inches ) | |
| Taken at the center of mass and aligned with the output coordinate system. | |
| Lxx = 0.19 Lxy = -0.11 Lxz = 0.16 | |
| Lyx = -0.11 Lyy = 1.97 Lyz = 0.00 | |
| Lzx = 0.16 Lzy = 0.00 Lzz = 1.90 | |
| Moments of inertia: ( pounds * square inches ) | |
| Taken at the output coordinate system. | |
| Ixx = 16.11 Ixy = -20.79 Ixz = 0.58 | |
| Iyx = -20.79 Iyy = 28.83 Iyz = -0.32 | |
| Izx = 0.58 Izy = -0.32 Izz = 44.67 |
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