Mass proprieties of jacobian – Dynamixels in center position

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In this study, we repeted the  process to acquire the mass proprieties of Jacobian with the all dynamixels in center value. This pose is better than the another one (in approximate equilibrium point) because we has better information about the rotation angle of joints.

We use 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 all dynamixels in center value and should be available here.

These are the values that we used in the MatLab/Simulink model

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