ROBOTIQ Wrist Camera - Center of Mass and Moment of Inertia

Wrist Camera Instruction Manual
7.1.1. Center of Mass and Moment of Inertia
The coordinate system used to calculate the moment of inertia and center of mass of the Wrist Camera is the base of the
Camera which correspond to the UR tool flange reference [0,0,0].
Here is the approximate position for the center of mass. It has been calculated for the camera itself and for combinations
with other Robotiq products. The camera's tool plate is included when the gripper is not mounted on the Wrist Camera.
Combination x (mm) y (mm) z (mm) Mass (grams)
- 0
5
9 230
FT300
0 2
30 530
2-Finger 85
0 1
58 975
2-Finger 140
0
1 66 1040
FT 300 and 2-Finger
85
0
1 77 1275
FT 300 and 2-Finger
140
0
1 85 1340
Here is the approximate moment of inertia matrix for the Wrist Camera:
Inertia Matrix Metric value
(kg * mm
2
)
Imperial value
(lb * in
2
)
lxx lxy lxz 111 0 0 0.38 0 0
lyx lyy lyz 0 70 3 0 0.24 0.01
lzx lzy lzz 0 3 165 0 0.01 0.56
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