Mass proprieties of jacobian – Dynamixels in center position

The Kangaroo (a.k.a Jakobian1) has a multi-body structure with 11 bodies and 10 joints.
In this study, we used the Mass Properties tools of Solid Works to get the proprieties of each
individual body. In the first stage we performed a full body analyze, and later we suppress 10
assemblies (assembly of parts for each individual body) for each analysis to get proprieties of
individual body parts.

Figure 1: Body parts of Jacobian1 (built in SolidWorks 2010)

Joint global coordinates

The properties of this study were defined with dynamixels in center value (see figure 3).
The structure presented in figure 2 was built with SimMechanics toolbox of
MatLab2009b/Simulink. The model parameters uses the values of this study: center of mass and
inertia matrix of each body part and joint coordinates (table 1)

Table 1: Joint coordinates (values of SolidWorks)

Joint Coordinate
Right support [0 0 3.3] cm
Left support [0 0 -3.3] cm
Joint 1 [16.15 2.1 3.3] cm
Joint 2 [16.15 6.7 3.3] cm
Joint 3 [16.15 21.6 3.3] cm
Joint 4 [12.76 21.6 3.3] cm
Joint 5 [12.76 25 3.3] cm
Joint 6 [12.76 25 -3.3] cm
Joint 7 [12.76 21.6 -3.3] cm
Joint 8 [16.15 21.6 -3.3] cm
Joint 9 [16.15 6.7 -3.3] cm
Figure 2: Jacobian structure (built in Joint 10 [16.15 2.1 -3.3] cm
MatLab/Simulink-SimMechanics)
Full body properties
Mass = 1131.9 grams

Volume = 832.5 cubic centimeters

Surface area = 4888.1 centimeters^2

Center of mass: ( centimeters )

X = 14.4
Y = 18.7
Z = 0.0

Principal axes of inertia and principal moments of

inertia: ( grams * square centimeters )
Taken at the center of mass.
Ix = (0.0, 1.0, 0.0) Px = 19998.7
Iy = (-0.0, -0.0, 1.0) Py = 141784.6
Iz = (1.0, -0.0, 0.0) Pz = 147352.8

Moments of inertia: ( grams * square centimeters )

Taken at the center of mass and aligned with the
output coordinate system.
Lxx = 147322.0 Lxy = 1982.0 Lxz = 0.2
Lyx = 1982.0 Lyy = 20029.6 Lyz = 20.3
Lzx = 0.2 Lzy = 20.3 Lzz = 141784.6

Figure 3: Jacobian pose with dynamixels in center value

Moments of inertia: ( grams * square centimeters )

Taken at the output coordinate system.
Ixx = 543061.6 Ixy = 306427.3 Ixz = 21.7
Iyx = 306427.3 Iyy = 254241.4 Iyz = 48.3
Izx = 21.7 Izy = 48.3 Izz = 771736.0

Upper torso properties

Mass = 398.8 grams

Volume = 305.3 cubic centimeters

Surface area = 1842.9 centimeters^2

Center of mass: ( centimeters )

X = 14.2
Y = 30.3
Z = 0.0

Principal axes of inertia and principal moments of inertia:

( grams * square centimeters )
Taken at the center of mass.
Ix = (-0.1, 1.0, 0.0) Px = 5080.3
Iy = (0.0, -0.0, 1.0) Py = 5145.6
Iz = (1.0, 0.1, -0.0) Pz = 9012.4
Moments of inertia: ( grams * square centimeters )
Taken at the center of mass and aligned with the output coordinate system.
Lxx = 8996.1 Lxy = -252.6 Lxz = 0.5
Lyx = -252.6 Lyy = 5096.7 Lyz = 3.2
Lzx = 0.5 Lzy = 3.2 Lzz = 5145.5

Moments of inertia: ( grams * square centimeters )

Taken at the output coordinate system.
Ixx = 375607.8 Ixy = 171141.7 Ixz = 21.5
Iyx = 171141.7 Iyy = 85225.2 Iyz = 48.1
Izx = 21.5 Izy = 48.1 Izz = 451885.6

Right groin properties

Mass = 15.1 grams

Volume = 10.6 cubic centimeters

Surface area = 107.8 centimeters^2

Center of mass: ( centimeters )

X = 14.4
Y = 23.5
Z = 3.3

Principal axes of inertia and principal moments of inertia: ( grams * square centimeters )
Taken at the center of mass.
Ix = (1.0, -0.0, 0.0) Px = 27.8
Iy = (0.0, 1.0, -0.0) Py = 133.6
Iz = (-0.0, 0.0, 1.0) Pz = 139.9

Moments of inertia: ( grams * square centimeters )

Taken at the center of mass and aligned with the output coordinate system.
Lxx = 27.8 Lxy = -1.1 Lxz = 0.0
Lyx = -1.1 Lyy = 133.6 Lyz = -0.0
Lzx = 0.0 Lzy = -0.0 Lzz = 139.9

Moments of inertia: ( grams * square centimeters )

Taken at the output coordinate system.
Ixx = 8538.2 Ixy = 5110.0 Ixz = 717.5
Iyx = 5110.0 Iyy = 3428.3 Iyz = 1171.6
Izx = 717.5 Izy = 1171.6 Izz = 11615.9

Left groin properties

Mass = 15.1 grams

Volume = 10.6 cubic centimeters

Surface area = 107.8 centimeters^2

Center of mass: ( centimeters )

X = 14.4
Y = 23.5
Z = -3.3
Principal axes of inertia and principal moments of inertia: ( grams * square centimeters )
Taken at the center of mass.
Ix = (1.0, -0.0, 0.0) Px = 27.8
Iy = (0.0, 1.0, -0.0) Py = 133.6
Iz = (-0.0, 0.0, 1.0) Pz = 139.9

Moments of inertia: ( grams * square centimeters )

Taken at the center of mass and aligned with the output coordinate system.
Lxx = 27.8 Lxy = -1.1 Lxz = 0.0
Lyx = -1.1 Lyy = 133.6 Lyz = -0.0
Lzx = 0.0 Lzy = -0.0 Lzz = 139.9

Moments of inertia: ( grams * square centimeters )

Taken at the output coordinate system.
Ixx = 8538.3 Ixy = 5110.0 Ixz = -717.5
Iyx = 5110.0 Iyy = 3428.3 Iyz = -1171.7
Izx = -717.5 Izy = -1171.7 Izz = 11615.9

Right hip properties

Mass = 137.0 grams

Volume = 99.6 cubic centimeters

Surface area = 432.6 centimeters^2

Center of mass: ( centimeters )

X = 14.6
Y = 20.1
Z = 3.3

Principal axes of inertia and principal moments of inertia: ( grams * square centimeters )
Taken at the center of mass.
Ix = (1.0, 0.0, -0.0) Px = 109.9
Iy = (-0.0, -0.1, -1.0) Py = 529.8
Iz = (-0.0, 1.0, -0.1) Pz = 543.1

Moments of inertia: ( grams * square centimeters )

Taken at the center of mass and aligned with the output coordinate system.
Lxx = 110.6 Lxy = 14.4 Lxz = -10.1
Lyx = 14.4 Lyy = 542.4 Lyz = 1.2
Lzx = -10.1 Lzy = 1.2 Lzz = 529.7

Moments of inertia: ( grams * square centimeters )

Taken at the output coordinate system.
Ixx = 56911.0 Ixy = 40101.9 Ixz = 6480.5
Iyx = 40101.9 Iyy = 31027.2 Iyz = 8962.8
Izx = 6480.5 Izy = 8962.8 Izz = 84912.8
Left hip properties

Mass = 137.0 grams

Volume = 99.6 cubic centimeters

Surface area = 432.6 centimeters^2

Center of mass: ( centimeters )

X = 14.6
Y = 20.1
Z = -3.3

Principal axes of inertia and principal moments of inertia: ( grams * square centimeters )
Taken at the center of mass.
Ix = (1.0, 0.0, 0.0) Px = 110.0
Iy = (0.0, 0.1, -1.0) Py = 529.8
Iz = (-0.0, 1.0, 0.1) Pz = 543.1

Moments of inertia: ( grams * square centimeters )

Taken at the center of mass and aligned with the output coordinate system.
Lxx = 110.7 Lxy = 14.4 Lxz = 10.1
Lyx = 14.4 Lyy = 542.4 Lyz = -1.1
Lzx = 10.1 Lzy = -1.1 Lzz = 529.7

Moments of inertia: ( grams * square centimeters )

Taken at the output coordinate system.
Ixx = 56910.9 Ixy = 40101.9 Ixz = -6480.3
Iyx = 40101.9 Iyy = 31027.2 Iyz = -8962.6
Izx = -6480.3 Izy = -8962.6 Izz = 84912.9

Right upper leg properties

Mass = 99.1 grams

Volume = 71.7 cubic centimeters

Surface area = 443.9 centimeters^2

Center of mass: ( centimeters )

X = 16.0
Y = 11.5
Z = 3.2

Principal axes of inertia and principal moments of inertia:

( grams * square centimeters )
Taken at the center of mass.
Ix = (-0.0, 1.0, 0.0) Px = 159.8
Iy = (-0.0, -0.0, 1.0) Py = 1832.0
Iz = (1.0, 0.0, 0.0) Pz = 1873.4
Moments of inertia: ( grams * square centimeters )
Taken at the center of mass and aligned with the output coordinate system.
Lxx = 1873.1 Lxy = -23.7 Lxz = -1.4
Lyx = -23.7 Lyy = 160.6 Lyz = 28.5
Lzx = -1.4 Lzy = 28.5 Lzz = 1831.5

Moments of inertia: ( grams * square centimeters )

Taken at the output coordinate system.
Ixx = 15884.6 Ixy = 18117.1 Ixz = 5087.7
Iyx = 18117.1 Iyy = 26518.4 Iyz = 3672.4
Izx = 5087.7 Izy = 3672.4 Izz = 40156.3

Left upper leg properties

Mass = 99.1 grams

Volume = 71.7 cubic centimeters

Surface area = 443.9 centimeters^2

Center of mass: ( centimeters )

X = 16.0
Y = 11.5
Z = -3.2

Principal axes of inertia and principal moments of inertia:

( grams * square centimeters )
Taken at the center of mass.
Ix = (-0.0, 1.0, -0.0) Px = 159.8
Iy = (0.0, 0.0, 1.0) Py = 1832.0
Iz = (1.0, 0.0, -0.0) Pz = 1873.4

Moments of inertia: ( grams * square centimeters )

Taken at the center of mass and aligned with the output coordinate system.
Lxx = 1873.1 Lxy = -23.7 Lxz = 1.4
Lyx = -23.7 Lyy = 160.6 Lyz = -28.5
Lzx = 1.4 Lzy = -28.5 Lzz = 1831.5

Moments of inertia: ( grams * square centimeters )

Taken at the output coordinate system.
Ixx = 15884.5 Ixy = 18117.1 Ixz = -5087.7
Iyx = 18117.1 Iyy = 26518.3 Iyz = -3672.4
Izx = -5087.7 Izy = -3672.4 Izz = 40156.3
Right knee properties

Mass = 27.3 grams

Volume = 17.4 cubic centimeters

Surface area = 185.1 centimeters^2

Center of mass: ( centimeters )

X = 17.1
Y = 4.4
Z = 3.4

Principal axes of inertia and principal moments of inertia: ( grams * square centimeters )
Taken at the center of mass.
Ix = (-0.0, 0.0, 1.0) Px = 94.2
Iy = (-0.0, -1.0, 0.0) Py = 125.1
Iz = (1.0, -0.0, 0.0) Pz = 164.4

Moments of inertia: ( grams * square centimeters )

Taken at the center of mass and aligned with the output coordinate system.
Lxx = 164.4 Lxy = 0.0 Lxz = -1.9
Lyx = 0.0 Lyy = 125.1 Lyz = -0.0
Lzx = -1.9 Lzy = -0.0 Lzz = 94.3

Moments of inertia: ( grams * square centimeters )

Taken at the output coordinate system.
Ixx = 1004.8 Ixy = 2057.4 Ixz = 1575.6
Iyx = 2057.4 Iyy = 8433.8 Iyz = 405.8
Izx = 1575.6 Izy = 405.8 Izz = 8621.1

Left knee properties

Mass = 27.3 grams

Volume = 17.4 cubic centimeters

Surface area = 185.1 centimeters^2

Center of mass: ( centimeters )

X = 17.1
Y = 4.4
Z = -3.4

Principal axes of inertia and principal moments of inertia: ( grams * square centimeters )
Taken at the center of mass.
Ix = (0.0, 0.0, 1.0) Px = 94.2
Iy = (0.0, -1.0, 0.0) Py = 125.1
Iz = (1.0, 0.0, -0.0) Pz = 164.4

Moments of inertia: ( grams * square centimeters )

Taken at the center of mass and aligned with the output coordinate system.
Lxx = 164.4 Lxy = -0.0 Lxz = 1.9
Lyx = -0.0 Lyy = 125.1 Lyz = -0.0
Lzx = 1.9 Lzy = -0.0 Lzz = 94.3
Moments of inertia: ( grams * square centimeters )
Taken at the output coordinate system.
Ixx = 1004.8 Ixy = 2057.4 Ixz = -1575.6
Iyx = 2057.4 Iyy = 8433.8 Iyz = -405.8
Izx = -1575.6 Izy = -405.8 Izz = 8621.1

Right lower leg properties

Mass = 88.0 grams

Volume = 64.3 cubic centimeters

Surface area = 353.2 centimeters^2

Center of mass: ( centimeters )

X = 11.9
Y = 2.0
Z = 3.2

Principal axes of inertia and principal moments of inertia: ( grams *

square centimeters )
Taken at the center of mass.
Ix = (1.0, 0.1, -0.0) Px = 122.6
Iy = (-0.1, 1.0, 0.0) Py = 1681.5
Iz = (0.0, -0.0, 1.0) Pz = 1738.7

Moments of inertia: ( grams * square centimeters )

Taken at the center of mass and aligned with the output coordinate system.
Lxx = 147.8 Lxy = 195.2 Lxz = -23.8
Lyx = 195.2 Lyy = 1656.7 Lyz = -1.2
Lzx = -23.8 Lzy = -1.2 Lzz = 1738.3

Moments of inertia: ( grams * square centimeters )

Taken at the output coordinate system.
Ixx = 1388.3 Ixy = 2256.3 Ixz = 3339.4
Iyx = 2256.3 Iyy = 15100.6 Iyz = 551.5
Izx = 3339.4 Izy = 551.5 Izz = 14619.0

Left lower leg properties

Mass = 88.0 grams

Volume = 64.3 cubic centimeters

Surface area = 353.2 centimeters^2

Center of mass: ( centimeters )

X = 11.9
Y = 2.0
Z = -3.2

Principal axes of inertia and principal moments of inertia: ( grams *

square centimeters )
Taken at the center of mass.
Ix = (1.0, 0.1, 0.0) Px = 122.6
Iy = (-0.1, 1.0, -0.0) Py = 1681.5
Iz = (-0.0, 0.0, 1.0) Pz = 1738.7

Moments of inertia: ( grams * square centimeters )

Taken at the center of mass and aligned with the output coordinate system.
Lxx = 147.8 Lxy = 195.2 Lxz = 23.8
Lyx = 195.2 Lyy = 1656.7 Lyz = 1.2
Lzx = 23.8 Lzy = 1.2 Lzz = 1738.3

Moments of inertia: ( grams * square centimeters )

Taken at the output coordinate system.
Ixx = 1388.3 Ixy = 2256.3 Ixz = -3339.3
Iyx = 2256.3 Iyy = 15100.6 Iyz = -551.5
Izx = -3339.3 Izy = -551.5 Izz = 14619.0