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

= Drive Assembly =

Drive Assembly WITH Motor Rotors
Updated: 4/9/2013



Mass = 14.08053732 kilograms

Center of mass: ( meters )

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

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

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

Drive Assembly WITHOUT Motor Rotors
Updated: 4/9/2013



Mass = 11.6828 kilograms

Center of mass: ( meters )

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

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

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

Motor Rotors (Without drive assembly
Updated: 4/9/2013



Mass = 1.8144 kilograms

Center of mass: ( meters )

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

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

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