Segment
m (kg)
L (m)
r (m)
About
Moment of inertia
I (kg×m2)
Forearm
1.00
0.28
elbow
0.0261
Forearm (additional mass)
0.24
0.07
elbow
0.0012
Hand
0.58
0.11
com
0.0006
Hand
0.58
0.34
elbow
0.0670
Battery
0.26
0.37
elbow
0.0356
Total
0.131
Segment
m (kg)
L (m)
r (m)
about
moment of inertia
I (kg×m2)
Upper arm
2.14
0.30
shoulder
0.0642
Forearm
1.00
0.28
com
0.0065
Forearm
1.00
0.44
shoulder
0.1936
Forearm (additional mass)
0.24
0.37
shoulder
0.0329
Hand
0.58
0.11
com
0.0006
Hand
0.58
0.64
shoulder
0.2376
Battery
0.26
0.67
shoulder
0.1167
Total
0.652