Center Of Mass - QB Robotics SoftHand2 Research General Manual


WARNING:
Be aware that the above figure may be out of scale.

3.2 Center of Mass

The following table gives also the position of the Center of Mass of the SoftHand2 Research and defines its
Coordinate System, like depicted in the following schemes.
Hand opened, CoM x coordinate, O
Hand opened, CoM y coordinate, O
Hand opened, CoM z coordinate, O
Hand closed, CoM x coordinate, O
Hand closed, CoM y coordinate, O
Hand closed, CoM z coordinate, O
Center of Mass, O , is evaluated w.r.t. Σ
T
the figures below.
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NOTE:
All coordinate systems here described follow the orthogonal right-hand rule.
UNIT
[mm]
TX
[mm]
TY
[mm]
TZ
[mm]
TX
[mm]
TY
[mm]
TZ
Weight [kg]
considering the hand mounted with its palm facing the ground, cf.
M
QBSOFTHAND2 RESEARCH USER MANUAL — 7
LEFT
-3.8
96.0
1.5
-2.6
85.5
2.5
0.940
RIGHT
3.8
96.0
1.5
2.6
85.5
2.5