T14 - Masses - V3.2


Warning

The Masses as well as the Center of Mass positions taken in account in the robot models have been updated in order to remove the slight dissymmetry between left and right limbs.

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.

/sites/default/files/repository/69_html_nao/_images/torso_t.png

\text{Mass} = 1.05767

\text{CoM(S)} = \left[
                \begin{array}{c}
                  -0.00544 \\
                  0.00000 \\
                  -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

Arms

Right Shoulder

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

/sites/default/files/repository/69_html_nao/_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.

/sites/default/files/repository/69_html_nao/_images/hardware_rbicepmass.png

\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.

/sites/default/files/repository/69_html_nao/_images/hardware_relbowmass.png

\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.

/sites/default/files/repository/69_html_nao/_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.

/sites/default/files/repository/69_html_nao/_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