Mass Properties of Jacobian (in equilibrium point)

The Kangaroo (a.k.a Jakobian1) has a multi-body structure with 11 bodies and 10 joints.

In this study, we used the Mass Properties tools of Solid Works to get the proprieties of each individual body. In the first stage we performed a full body analyze, and later we suppress 10 assemblies (assembly of parts for each individual body) for each analysis to get proprieties of individual body parts.

The properties of this study were defined with a robot pose approximated at the equilibrium point and should be available here.

We will use this values to build a model in MatLab/Simulink.