|
| Geometric parameters | |
|
| 93.5 mm |
| 106.07 mm |
|
| Main inertial parameters | |
|
| End-effector mass | 3.893·10-1 kg |
| End effector inertia matrix with respect to the coordinate frame | |
| Mass of the leg link 1 | kg |
| Moment of inertia of the leg link 1 about its cylindrical joint axis | kgm2 |
| Mass of the leg link 2 | kg |
| Moment of inertia of the leg link 2 about its principal axis parallel to the cylindrical joint axis of the same leg | kgm2 |
| Mass of the universal joint cross | kg |
|