KHR-1 mass

[Dows]

Hi,

Someone can tell me the mass of the whole robot and an aproximation of each of its parts?

I've been searching on the forums but i haven't found anything.

Thanks in advance,

Víctor

[limor]

I dont recall seeing this type of analysis for the KHR-1

It has been done for the Bioloid if you are interested

[Dows]

I've noticed that the parts sold at the store come with a weight in the right, do you know if this weight is accurate? (And.. they are in Kg?)

And can somebody give me the weight of KHR-1's red battery or the weight of the robot itself ? I haven't it available ( else i would do the weights myself : S ) and i need the data to end the physics module of my simulator.

Thanks a lot ^.^

[limor]

Hi, seems like someone has recently uploaded the KHR-1 into physX using the MS robot studio tools.
Check out the video interview with Laurent : http://www.robots-dreams.com/2006/10/mi ... bot_3.html

and he actually has put the files up for downloading
http://www.lessieux.com/mywiki/index.ph ... s_SDK_Work

you will probably find some weight information in there.

Following work we did with the Bioloid, you should be warned it is a real pain getting precise measurements of weight and inertia tensor for various components.

which simulator are you using ?

[shsan]

Hi,

I am the one who made the simulation although it was not complete.

All weights I used were approximated and I can confirm what limor said that getting the weights and inertia tensor correct is a major pain.

I managed to get a full KHR2 simulated under Webots but I had to tweak the weight quite a bit.

Also the way you simulate the controller is very important. I think I had the speed control wrong and again that's causing major issues.

shsan

[Dows]

I've coded my own simulator with very very simple physics (only 2D movements in each plane) so i don't have problems calculating I hehehe

However the physics module isn't working very well...and i have to read the tesis in a month XD

I've calculated the whole mass of the model to be 1,625 kg i hope this would be a good aproximation :S

By the way, do you know the angular velocity of one khr-1s servo at max speed?

Thanks to all

[shsan]

I don't remember exactly which servo the KHR1 uses but you can find most of the details for the Kondo servos here.

http://www.rakuten.co.jp/tsukumo/487433 ... 10/531069/

Ok it's in japanese but you should be able to see the numbers.

If the servo is the KRS-786/784 then it's 0.17sec for 60deg.

[limor]

There's some technical information about KHR-1 on RoboSavvy Main Menu on the left (Humanoids->KHR-1)