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Merge pull request #200 from shadow-robot/ubi-agni-B_realistic_inertia
Realistic inertia
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| This package contains the description for Shadow Robot's Hand and Arm, as well as some additional models used in our robot (kinect, etc...). | ||
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| You can find the different complete models in [robots](robots). | ||
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| You can also find more information about the computation of the [arm kinematics](doc/ArmInertia.md) and of the [hand kinematics](doc/HandInertia.md). |
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| Author Guillaume WALCK [email protected] | ||
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| work done during the HANDLE project in 2011 (inertia tensor moved to joint axis) | ||
| reworked 2015 (inertia tensor at COM) | ||
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| Overview | ||
| ======== | ||
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| Arm inertia estimated from bounding box or bounding cylinders. | ||
| mass estimated from volume of bounding boxes times density of material | ||
| computation done with octave | ||
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| Octave functions | ||
| ================ | ||
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| ```octave | ||
| function [ix,iy,iz] = inertiabox(sx,sy,sz,mass) | ||
| ix = 1/12.0*mass*(sy*sy+sz*sz); | ||
| iy = 1/12.0*mass*(sx*sx+sz*sz); | ||
| iz = 1/12.0*mass*(sy*sy+sx*sx); | ||
| end | ||
| ``` | ||
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| ```octave | ||
| function [ix,iy,iz] = inertiacyl(radius,length,mass) | ||
| % along z | ||
| iz = mass* radius*radius/2; | ||
| ix = 1/12.0* mass * (3*radius*radius+length*length); | ||
| iy = ix; | ||
| end | ||
| ``` | ||
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| Inertia Tensors | ||
| =============== | ||
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| ```octave | ||
| base aluminum m=400g | ||
| inertiabox(0.145,0.145,0.012,0.4) | ||
| Ix = 7.0563e-04 | ||
| Iy = 7.0563e-04 | ||
| Iz = 0.0014017 | ||
| ``` | ||
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| ```octave | ||
| hand_support_plate_motor aluminum m=750g | ||
| inertiacyl(0.0675,0.006,0.75) | ||
| Ix = 8.5655e-04 | ||
| Iy = 8.5655e-04 | ||
| Iz = 0.0017086 | ||
| ``` | ||
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| ```octave | ||
| hand_support_plate_muscle aluminum m=750g | ||
| inertiacyl(0.07,0.006,0.75) | ||
| Ix = 9.2100e-04 | ||
| Iy = 9.2100e-04 | ||
| Iz = 0.0018375 | ||
| ``` | ||
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| ```octave | ||
| trunk various material m=10kg | ||
| inertiacyl(0.17/2,0.580,10.0) | ||
| Ix = 0.29840 | ||
| Iy = 0.29840 | ||
| Iz = 0.036125 | ||
| ``` | ||
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| ```octave | ||
| upperarm various material m=2kg | ||
| inertiacyl(0.15/2,0.500,2.0) | ||
| Ix = 0.044479 | ||
| Iy = 0.044479 | ||
| Iz = 0.0056250 | ||
| ``` | ||
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| ```octave | ||
| lower_arm various material m=1.7kg | ||
| inertiabox(0.080,0.078,0.07,1.7) | ||
| Ix = 0.0015561 | ||
| Iy = 0.0016008 | ||
| Iz = 0.0017686 | ||
| ``` |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,137 @@ | ||
| Author Guillaume WALCK [email protected] | ||
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||
| work done during the HANDLE project in 2011 (inertia tensor moved to joint axis) | ||
| reworked 2015 (inertia tensor at COM) | ||
|
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||
| Overview | ||
| ======== | ||
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| Hand inertia estimated from bounding box or bounding cylinders. | ||
| mass estimated from volume of bounding boxes times density of material | ||
| (sometimes adjusted to match real values) | ||
| computation done with octave | ||
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| Octave functions | ||
| ================ | ||
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| ```octave | ||
| function [ix,iy,iz] = inertiabox(sx,sy,sz,mass) | ||
| ix = 1/12.0*mass*(sy*sy+sz*sz); | ||
| iy = 1/12.0*mass*(sx*sx+sz*sz); | ||
| iz = 1/12.0*mass*(sy*sy+sx*sx); | ||
| end | ||
| ``` | ||
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| ```octave | ||
| function [ix,iy,iz] = inertiacyl(radius,length,mass) | ||
| % along z | ||
| iz = mass* radius*radius/2; | ||
| ix = 1/12.0* mass * (3*radius*radius+length*length); | ||
| iy = ix; | ||
| end | ||
| ``` | ||
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| Inertia tensors | ||
| =============== | ||
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| density delrin = 1.41g/cm3 | ||
| aluminum density = 2.7g/cm3 | ||
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| ```octave | ||
| wrist aluminum V=16+37.7/2 = 41cm3 m=100g | ||
| inertiabox(0.030,0.066,0.058,0.1) | ||
| Ix = 6.4333e-05 | ||
| Iy = 3.5533e-05 | ||
| Iz = 4.3800e-05 | ||
| ``` | ||
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| ```octave | ||
| palm delrin V=200cm3 m=300g | ||
| inertiabox(0.085,0.020,0.118,0.30) | ||
| Ix = 3.5810e-04 | ||
| Iy = 5.2872e-04 | ||
| Iz = 1.9063e-04 | ||
| ``` | ||
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| ```octave | ||
| lfmetacarpal V=13cm3 m=30g | ||
| inertiabox(0.035,0.022,0.073,0.030) | ||
| Ix = 1.4532e-05 | ||
| Iy = 1.6385e-05 | ||
| Iz = 4.2725e-06 | ||
| ``` | ||
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| ```octave | ||
| knuckle aluminum V=3cm3 m=8g | ||
| inertiacyl(0.009,0.012,0.008) | ||
| Ix = 2.5800e-07 | ||
| Iy = 2.5800e-07 | ||
| Iz = 3.2400e-07 | ||
| ``` | ||
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| ```octave | ||
| proximal delrin V=21cm3 m=30g | ||
| inertiabox(0.02,0.018,0.06,0.030) | ||
| Ix = 9.8100e-06 | ||
| Iy = 1.0000e-05 | ||
| Iz = 1.8100e-06 | ||
| ``` | ||
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| ```octave | ||
| middle delrin V=12.24cm3 m = 17g | ||
| inertiabox(0.018,0.017,0.04,0.017) | ||
| Ix = 2.6761e-06 | ||
| Iy = 2.7257e-06 | ||
| Iz = 8.6842e-07 | ||
| ``` | ||
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| ```octave | ||
| distal delrin + rubber V=7cm3 m=12g | ||
| inertiabox(0.018,0.0145,0.027,0.012) | ||
| Ix = 9.3925e-07 | ||
| Iy = 1.0530e-06 | ||
| Iz = 5.3425e-07 | ||
| ``` | ||
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| ```octave | ||
| thdistal delrin + rubber V=13cm3 m=16g | ||
| inertiabox(0.021,0.018,0.035,0.016) | ||
| Ix = 2.0653e-06 | ||
| Iy = 2.2213e-06 | ||
| Iz = 1.0200e-06 | ||
| ``` | ||
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| ```octave | ||
| thproximal delrin V=29.5cm3 m=40g | ||
| inertiacyl(0.025/2,0.06,0.04) | ||
| Ix = 1.3562e-05 | ||
| Iy = 1.3562e-05 | ||
| Iz = 3.1250e-06 | ||
| ``` | ||
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| ```octave | ||
| thmiddle delrin V=19.77cm3 m=27g | ||
| inertiacyl(0.022/2,0.052,0.027) | ||
| Ix = 6.9007e-06 | ||
| Iy = 6.9007e-06 | ||
| Iz = 1.6335e-06 | ||
| ``` | ||
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| ```octave | ||
| thhub m=5g | ||
| inertiabox(0.005,0.005,0.005,0.005) | ||
| Ix = 2.0833e-08 | ||
| Iy = 2.0833e-08 | ||
| Iz = 2.0833e-08 | ||
| ``` | ||
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| ```octave | ||
| thbase m=10g | ||
| inertiabox(0.010,0.010,0.010,0.010) | ||
| Ix = 1.6667e-07 | ||
| Iy = 1.6667e-07 | ||
| Iz = 1.6667e-07 | ||
| ``` |
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