ATRIAS 2.1 Handbook/Technical Specifications/Solid Model Specifications/Torso Mass and Inertia

Body (or Torso) none|caption here Mass = 22.22268345 kilograms Center of mass: ( meters ) X = -0.00281061 Y = 0.33493699 Z = 0.00319347 Principal axes of inertia and principal moments of inertia: ( kilograms * square meters ) Taken at the center of mass. Ix = (0.00070046, 0.99983654, -0.01806682) Px = 0.71977094 Iy = (0.03700520, 0.01802854, 0.99915243) Py = 1.19184042 Iz = (0.99931483, -0.00136843, -0.03698652) Pz = 1.60484185 Moments of inertia: ( kilograms * square meters ) Taken at the center of mass and aligned with the output coordinate system. Lxx = 1.60427586 Lxy = 0.00089539 Lxz = 0.01525904 Lyx = 0.00089539 Lyy = 0.71992603 Lyz = -0.00854831 Lzx = 0.01525904 Lzy = -0.00854831 Lzz = 1.19225132 Moments of inertia: ( kilograms * square meters ) Taken at the output coordinate system. Ixx = 4.09750513 Ixy = -0.02002455 Ixz = 0.01505958 Iyx = -0.02002455 Iyy = 0.72032821 Iyz = 0.01522136 Izx = 0.01505958 Izy = 0.01522136 Izz = 3.68542951