质量信息

在本页，您可读到有关3.3版NAO机器人右侧每一个固体（S）的质量、质心与惯性矩阵的细节信息。

描述质心位置与惯性矩阵时，对应于当前固体的本地坐标系(S) (o, R)。

在描述所有固体(S)与本地坐标系时，对应于零点姿势：即双腿笔直且双臂向前平伸站立。

Torso frame definition

Center of Mass and Inertial matrix definition

NAO

NAO H25 (g) 4996
NAO H21 (g) 4879

躯干

Torso mass information 3.3

质量(g) 1039.48
重心(mm) X = -4.15 Y = 0.07 Z = 42.58
惯性矩阵(g*mm²)

Ixx = 4967419.76 Ixy = -12473.98 Ixz = -164468.14

Iyx = -12473.98 Iyy = 4791352.46 Iyz = 24776.69

Izx = -164468.14 Izy = 24776.69 Izz = 1597848.29

颈部

Neck mass information 3.3

质量(g) 59.30
重心(mm) X = -0.02 Y = 0.17 Z = -25.56
惯性矩阵(g*mm²)

Ixx = 61803.08 Ixy = 2.05 Ixz = 49.48

Iyx = 2.05 Iyy = 62818.59 Iyz = 50.67

Izx = 49.48 Izy = 50.67 Izz = 5439.77

头部

Head mass information 3.3

质量(g) 520.65
重心(mm) X = 1.20 Y = -0.84 Z = 53.53
惯性矩阵(g*mm²)

Ixx = 2265870.04 Ixy = -7871.81 Ixz = 11926.53

Iyx = -7871.81 Iyy = 2264205.13 Iyz = 2318.46

Izx = 11926.53 Izy = 2318.46 Izz = 873733.21

右肩

Right Shoulder mass information 3.3

质量(g) 69.84
重心(mm) X = -1.78 Y = 24.96 Z = 0.18
惯性矩阵(g*mm²)

Ixx = 71024.99 Ixy = -2024.67 Ixz = -17.22

Iyx = -2024.67 Iyy = 14057.99 Iyz = 8.41

Izx = -17.22 Izy = 8.41 Izz = 73166.00

右上臂

Right Bicep mass information 3.3

质量(g) 123.09
重心(mm) X = 18.85 Y = -5.77 Z = 0.65
惯性矩阵(g*mm²)

Ixx = 82284.13 Ixy = -39780.57 Ixz = 7526.01

Iyx = -39780.57 Iyy = 290014.45 Iyz = -1529.45

Izx = 7526.01 Izy = -1529.45 Izz = 268423.31

右肘

Right Elbow mass information

质量(g) 59.71
重心(mm) X = -25.60 Y = 0.01 Z = -0.19
惯性矩阵(g*mm²)

Ixx = 5503.19 Ixy = -22.43 Ixz = -15.34

Iyx = -22.43 Iyy = 62254.05 Iyz = 5.59

Izx = -15.34 Izy = 5.59 Izz = 63251.24

装有电机的右前臂

Right Motorized ForeArm mass information 3.3

质量(g) 77.24
重心(mm) X = 25.56 Y = -2.73 Z = 0.96
惯性矩阵(g*mm²)

Ixx = 25194.83 Ixy = -2162.93 Ixz = 718.46

Iyx = -2162.93 Iyy = 88903.15 Iyz = -108.09

Izx = 718.46 Izy = -108.09 Izz = 86868.67

装有电机的右手

Right Motorized Hand mass information

质量(g) 166.53
重心(mm) X = 31.80 Y = -0.83 Z = 4.77
惯性矩阵(g*mm²)

Ixx = 61056.75 Ixy = -5036.40 Ixz = 38953.69

Iyx = -5036.40 Iyy = 279473.51 Iyz = -2930.76

Izx = 38953.69 Izy = -2930.76 Izz = 279988.03

没有电机的右前臂

Right No Motorized ForeArm mass information

质量(g) 185.00
重心(mm) X = 65.36 Y = -0.34 Z = -0.02
惯性矩阵(g*mm²)

Ixx = 78310.52 Ixy = 10067.58 Ixz = -7569.42

Iyx = 10067.58 Iyy = 1129968.01 Iyz = -132.37

Izx = -7569.42 Izy = -132.37 Izz = 1126955.18

右骨盆

Right Pelvis mass information 3.3

质量(g) 71.17
重心(mm) X = -7.66 Y = 12.00 Z = 27.17
惯性矩阵(g*mm²)

Ixx = 89971.64 Ixy = -5002.14 Ixz = -12735.48

Iyx = -5002.14 Iyy = 105522.50 Iyz = 27700.75

Izx = -12735.48 Izy = 27700.75 Izz = 66883.82

右髋

Right Hip mass information 3.3

质量(g) 135.30
重心(mm) X = -16.49 Y = -0.29 Z = -4.75
惯性矩阵(g*mm²)

Ixx = 27911.29 Ixy = 47.65 Ixz = 5309.58

Iyx = 47.65 Iyy = 101468.47 Iyz = 0.07

Izx = 5309.58 Izy = 0.07 Izz = 92091.65

右大腿

Right Thigh mass information 3.3

质量(g) 394.21
重心(mm) X = 1.32 Y = -2.35 Z = -53.52
惯性矩阵(g*mm²)

Ixx = 1630119.59 Ixy = 319.39 Ixz = -82870.48

Iyx = 319.39 Iyy = 1592699.48 Iyz = 43339.19

Izx = -82870.48 Izy = 43339.19 Izz = 301208.88

右小腿

Right Tibia mass information 3.3

质量(g) 291.59
重心(mm) X = 4.22 Y = -2.520 Z = -48.68
惯性矩阵(g*mm²)

Ixx = 1153825.50 Ixy = 775.29 Ixz = -32312.79

Iyx = 775.29 Iyy = 1103777.29 Iyz = 43967.28

Izx = -32312.79 Izy = 43967.28 Izz = 188610.38

右踝

Right Ankle mass information 3.3

质量(g) 138.92
重心(mm) X = 1.42 Y = -0.28 Z = 6.38
惯性矩阵(g*mm²)

Ixx = 38826.14 Ixy = -47.11 Ixz = -2213.27

Iyx = -47.11 Iyy = 72115.71 Iyz = 6.86

Izx = -2213.27 Izy = 6.86 Izz = 53520.41

右足

Right Foot mass information 3.3

质量(g) 161.75
重心(mm) X = 25.40 Y = -3.32 Z = -32.41
惯性矩阵(g*mm²)

Ixx = 269612.04 Ixy = -5876.90 Ixz = -139244.46

Iyx = -5876.90 Iyy = 643878.18 Iyz = 18870.96

Izx = -139244.46 Izy = 18870.96 Izz = 525191.67





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