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Measurements.txt
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Measurements.txt
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main_body
Component Instances (1)
Area 1.335E+05 mm^2
Density 0.001 g / mm^3
Mass 387.559 g
Volume 3.663E+05 mm^3
Physical Material (Various)
Bounding Box
Length 160.00 mm
Width 220.00 mm
Height 33.00 mm
World X,Y,Z 0.00 mm, 0.00 mm, 0.00 mm
Center of Mass 0.012 mm, 0.014 mm, 15.60 mm
Moment of Inertia at Center of Mass (g mm^2)
Ixx = 1.096E+06
Ixy = 80.024
Ixz = -71.131
Iyx = 80.024
Iyy = 6.744E+05
Iyz = -5.436
Izx = -71.131
Izy = -5.436
Izz = 1.658E+06
Moment of Inertia at Origin (g mm^2)
Ixx = 1.190E+06
Ixy = 79.958
Ixz = -145.602
Iyx = 79.958
Iyy = 7.687E+05
Iyz = -89.339
Izx = -145.602
Izy = -89.339
Izz = 1.658E+06
####################################################
link_shoulder1 v1
Component Instances (1)
Area 9836.228 mm^2
Density 0.001 g / mm^3
Mass 19.857 g
Volume 1.624E+04 mm^3
Physical Material (Various)
Bounding Box
Length 37.00 mm
Width 45.00 mm
Height 17.50 mm
World X,Y,Z 0.00 mm, 0.00 mm, 0.00 mm
Center of Mass -8.165 mm, 22.472 mm, -3.831E-04 mm
Moment of Inertia at Center of Mass (g mm^2)
Ixx = 3218.011
Ixy = 199.995
Ixz = -0.05
Iyx = 199.995
Iyy = 1946.476
Iyz = -0.086
Izx = -0.05
Izy = -0.086
Izz = 4027.678
Moment of Inertia at Origin (g mm^2)
Ixx = 1.325E+04
Ixy = 3843.27
Ixz = -0.112
Iyx = 3843.27
Iyy = 3270.192
Iyz = 0.085
Izx = -0.112
Izy = 0.085
Izz = 1.538E+04
####################################################
link_shoulder2 v1
Component Instances (1)
Area 9836.228 mm^2
Density 0.001 g / mm^3
Mass 19.857 g
Volume 1.624E+04 mm^3
Physical Material (Various)
Bounding Box
Length 37.00 mm
Width 45.00 mm
Height 17.50 mm
World X,Y,Z 0.00 mm, 0.00 mm, 0.00 mm
Center of Mass 8.165 mm, 22.472 mm, 3.831E-04 mm
Moment of Inertia at Center of Mass (g mm^2)
Ixx = 3218.011
Ixy = -199.995
Ixz = -0.05
Iyx = -199.995
Iyy = 1946.476
Iyz = 0.086
Izx = -0.05
Izy = 0.086
Izz = 4027.678
Moment of Inertia at Origin (g mm^2)
Ixx = 1.325E+04
Ixy = -3843.27
Ixz = -0.112
Iyx = -3843.27
Iyy = 3270.192
Iyz = -0.085
Izx = -0.112
Izy = -0.085
Izz = 1.538E+04
####################################################
link_shoulder3 v1
Component Instances (1)
Area 9836.228 mm^2
Density 0.001 g / mm^3
Mass 19.857 g
Volume 1.624E+04 mm^3
Physical Material (Various)
Bounding Box
Length 37.00 mm
Width 45.00 mm
Height 17.50 mm
World X,Y,Z 0.00 mm, 0.00 mm, 0.00 mm
Center of Mass -8.165 mm, -22.472 mm, 3.831E-04 mm
Moment of Inertia at Center of Mass (g mm^2)
Ixx = 3218.011
Ixy = -199.995
Ixz = 0.05
Iyx = -199.995
Iyy = 1946.476
Iyz = -0.086
Izx = 0.05
Izy = -0.086
Izz = 4027.678
Moment of Inertia at Origin (g mm^2)
Ixx = 1.325E+04
Ixy = -3843.27
Ixz = 0.112
Iyx = -3843.27
Iyy = 3270.192
Iyz = 0.085
Izx = 0.112
Izy = 0.085
Izz = 1.538E+04
####################################################
link_shoulder4 v1
Component Instances (1)
Area 9836.228 mm^2
Density 0.001 g / mm^3
Mass 19.857 g
Volume 1.624E+04 mm^3
Physical Material (Various)
Bounding Box
Length 37.00 mm
Width 45.00 mm
Height 17.50 mm
World X,Y,Z 0.00 mm, 0.00 mm, 0.00 mm
Center of Mass 8.165 mm, -22.472 mm, -3.831E-04 mm
Moment of Inertia at Center of Mass (g mm^2)
Ixx = 3218.011
Ixy = 199.995
Ixz = 0.05
Iyx = 199.995
Iyy = 1946.476
Iyz = 0.086
Izx = 0.05
Izy = 0.086
Izz = 4027.678
Moment of Inertia at Origin (g mm^2)
Ixx = 1.325E+04
Ixy = 3843.27
Ixz = 0.112
Iyx = 3843.27
Iyy = 3270.192
Iyz = -0.085
Izx = 0.112
Izy = -0.085
Izz = 1.538E+04
####################################################
link_femur1 v1
Component Instances (1)
Area 1.006E+04 mm^2
Density 0.001 g / mm^3
Mass 21.797 g
Volume 1.807E+04 mm^3
Physical Material (Various)
Bounding Box
Length 29.50 mm
Width 30.00 mm
Height 85.00 mm
World X,Y,Z 0.00 mm, 0.00 mm, 0.00 mm
Center of Mass -12.278 mm, 3.634E-04 mm, -31.262 mm
Moment of Inertia at Center of Mass (g mm^2)
Ixx = 1.388E+04
Ixy = -0.022
Ixz = -908.897
Iyx = -0.022
Iyy = 1.369E+04
Iyz = 0.04
Izx = -908.897
Izy = 0.04
Izz = 1695.609
Moment of Inertia at Origin (g mm^2)
Ixx = 3.518E+04
Ixy = 0.075
Ixz = -9275.527
Iyx = 0.075
Iyy = 3.827E+04
Iyz = 0.287
Izx = -9275.527
Izy = 0.287
Izz = 4981.615
####################################################
link_femur2 v1
Component Instances (1)
Area 1.006E+04 mm^2
Density 0.001 g / mm^3
Mass 21.797 g
Volume 1.807E+04 mm^3
Physical Material (Various)
Bounding Box
Length 29.50 mm
Width 30.00 mm
Height 85.00 mm
World X,Y,Z 0.00 mm, 0.00 mm, 0.00 mm
Center of Mass 12.278 mm, -3.634E-04 mm, -31.262 mm
Moment of Inertia at Center of Mass (g mm^2)
Ixx = 1.388E+04
Ixy = -0.022
Ixz = 908.897
Iyx = -0.022
Iyy = 1.369E+04
Iyz = -0.04
Izx = 908.897
Izy = -0.04
Izz = 1695.609
Moment of Inertia at Origin (g mm^2)
Ixx = 3.518E+04
Ixy = 0.075
Ixz = 9275.527
Iyx = 0.075
Iyy = 3.827E+04
Iyz = -0.287
Izx = 9275.527
Izy = -0.287
Izz = 4981.615
####################################################
link_femur3 v1
Component Instances (1)
Area 1.006E+04 mm^2
Density 0.001 g / mm^3
Mass 21.797 g
Volume 1.807E+04 mm^3
Physical Material (Various)
Bounding Box
Length 29.50 mm
Width 30.00 mm
Height 85.00 mm
World X,Y,Z 0.00 mm, 0.00 mm, 0.00 mm
Center of Mass -12.278 mm, 3.634E-04 mm, -31.262 mm
Moment of Inertia at Center of Mass (g mm^2)
Ixx = 1.388E+04
Ixy = -0.022
Ixz = -908.897
Iyx = -0.022
Iyy = 1.369E+04
Iyz = 0.04
Izx = -908.897
Izy = 0.04
Izz = 1695.609
Moment of Inertia at Origin (g mm^2)
Ixx = 3.518E+04
Ixy = 0.075
Ixz = -9275.527
Iyx = 0.075
Iyy = 3.827E+04
Iyz = 0.287
Izx = -9275.527
Izy = 0.287
Izz = 4981.615
####################################################
link_femur4 v1
Component Instances (1)
Area 1.006E+04 mm^2
Density 0.001 g / mm^3
Mass 21.797 g
Volume 1.807E+04 mm^3
Physical Material (Various)
Bounding Box
Length 29.50 mm
Width 30.00 mm
Height 85.00 mm
World X,Y,Z 0.00 mm, 0.00 mm, 0.00 mm
Center of Mass 12.278 mm, -3.634E-04 mm, -31.262 mm
Moment of Inertia at Center of Mass (g mm^2)
Ixx = 1.388E+04
Ixy = -0.022
Ixz = 908.897
Iyx = -0.022
Iyy = 1.369E+04
Iyz = -0.04
Izx = 908.897
Izy = -0.04
Izz = 1695.609
Moment of Inertia at Origin (g mm^2)
Ixx = 3.518E+04
Ixy = 0.075
Ixz = 9275.527
Iyx = 0.075
Iyy = 3.827E+04
Iyz = -0.287
Izx = 9275.527
Izy = -0.287
Izz = 4981.615
####################################################
link_forearm1, link_forearm2
Longer_tibia
Component Instances (1)
Area 3859.718 mm^2
Density 0.001 g / mm^3
Mass 7.298 g
Volume 6885.015 mm^3
Physical Material ABS Plastic
Bounding Box
Length 5.00 mm
Width 20.00 mm
Height 92.50 mm
World X,Y,Z -2.50 mm, 0.00 mm, 0.00 mm
Center of Mass -2.50 mm, 0.90 mm, -32.102 mm
Moment of Inertia at Center of Mass (g mm^2)
Ixx = 5046.405
Ixy = 0.00
Ixz = 0.00
Iyx = 0.00
Iyy = 4893.134
Iyz = 99.01
Izx = 0.00
Izy = 99.01
Izz = 183.68
Moment of Inertia at Origin (g mm^2)
Ixx = 1.257E+04
Ixy = 16.412
Ixz = -585.717
Iyx = 16.412
Iyy = 1.246E+04
Iyz = 309.761
Izx = -585.717
Izy = 309.761
Izz = 235.199
####################################################
link_foot1 v1 link_foot2 v1 link_foot3 v1 link_foot4 v1
Component Instances (1)
Area 1073.368 mm^2
Density 9.300E-04 g / mm^3
Mass 1.306 g
Volume 1403.783 mm^3
Physical Material Rubber, Black
Bounding Box
Length 13.00 mm
Width 20.00 mm
Height 10.00 mm
World X,Y,Z 0.00 mm, 0.00 mm, 0.00 mm
Center of Mass 0.00 mm, 0.00 mm, -4.355 mm
Moment of Inertia at Center of Mass (g mm^2)
Ixx = 43.185
Ixy = 0.00
Ixz = 0.00
Iyx = 0.00
Iyy = 29.326
Iyz = 0.00
Izx = 0.00
Izy = 0.00
Izz = 54.089
Moment of Inertia at Origin (g mm^2)
Ixx = 67.947
Ixy = 0.00
Ixz = 0.00
Iyx = 0.00
Iyy = 54.089
Iyz = 0.00
Izx = 0.00
Izy = 0.00
Izz = 54.089
####################################################
m_sensor_link, b_sensor_link
fb_sensor v1
Component Instances (1)
Area 5540.404 mm^2
Density 0.001 g / mm^3
Mass 10.172 g
Volume 7842.484 mm^3
Physical Material (Various)
Bounding Box
Length 50.00 mm
Width 29.30 mm
Height 22.50 mm
World X,Y,Z 0.00 mm, 0.00 mm, 0.00 mm
Center of Mass 2.788E-04 mm, 15.906 mm, 10.99 mm
Moment of Inertia at Center of Mass (g mm^2)
Ixx = 566.328
Ixy = -0.004
Ixz = 1.025
Iyx = -0.004
Iyy = 2259.218
Iyz = -94.40
Izx = 1.025
Izy = -94.40
Izz = 2156.532
Moment of Inertia at Origin (g mm^2)
Ixx = 4368.418
Ixy = -0.049
Ixz = 0.994
Iyx = -0.049
Iyy = 3487.73
Iyz = -1872.509
Izx = 0.994
Izy = -1872.509
Izz = 4730.11
####################################################
l_sensor_link, r_sensor_link
link_rl_sensor v1
Component Instances (1)
Area 5346.473 mm^2
Density 0.001 g / mm^3
Mass 9.834 g
Volume 7523.11 mm^3
Physical Material (Various)
Bounding Box
Length 30.00 mm
Width 24.30 mm
Height 52.00 mm
World X,Y,Z 0.00 mm, 0.00 mm, 0.00 mm
Center of Mass -2.249E-08 mm, 13.365 mm, 24.947 mm
Moment of Inertia at Center of Mass (g mm^2)
Ixx = 2392.374
Ixy = -9.894E-07
Ixz = 3.435E-07
Iyx = -9.894E-07
Iyy = 2455.416
Iyz = -93.261
Izx = 3.435E-07
Izy = -93.261
Izz = 406.513
Moment of Inertia at Origin (g mm^2)
Ixx = 1.027E+04
Ixy = 1.967E-06
Ixz = 5.862E-06
Iyx = 1.967E-06
Iyy = 8575.267
Iyz = -3372.018
Izx = 5.862E-06
Izy = -3372.018
Izz = 2163.132
####################################################
######SUPPORT TEST ELEMENT######
Support
Component Instances (1)
Area 8.400E+04 mm^2
Density 7.210E-04 g / mm^3
Mass 556.612 g
Volume 7.720E+05 mm^3
Physical Material Oak, White
Bounding Box
Length 100.00 mm
Width 140.00 mm
Height 190.00 mm
World X,Y,Z 0.00 mm, 0.00 mm, 0.00 mm
Center of Mass 0.00 mm, 0.00 mm, 81.632 mm
Moment of Inertia at Center of Mass (g mm^2)
Ixx = 2.858E+06
Ixy = 0.00
Ixz = 0.00
Iyx = 0.00
Iyy = 2.726E+06
Iyz = 0.00
Izx = 0.00
Izy = 0.00
Izz = 6.479E+05
Moment of Inertia at Origin (g mm^2)
Ixx = 6.568E+06
Ixy = 0.00
Ixz = 0.00
Iyx = 0.00
Iyy = 6.436E+06
Iyz = 0.00
Izx = 0.00
Izy = 0.00
Izz = 6.479E+05