Mass Calculations

	B	C	D	E	F	G
1
2	Theo Jansen Leg
3	lengths (cm)	width (cm)	thickness (cm)	volume (cm^3)	density (g/cm^3)	expected mass (g)
4	3.800	0.397	0.3825	0.577040	1.74	1.00404873
5	4.150	0.397	0.3825	0.630188	1.74	1.096526903
6	3.930	0.397	0.3825	0.596780	1.74	1.038397766
7	4.010	0.397	0.3825	0.608929	1.74	1.059535634
8	5.580	0.397	0.3825	0.847337	1.74	1.474366293
9	3.940	0.397	0.3825	0.598299	1.74	1.041039999
10	3.670	0.397	0.3825	0.557299	1.74	0.9696996945
11	6.570	0.397	0.3825	0.997671	1.74	1.73594741
12	4.900	0.397	0.3825	0.744077	1.74	1.294694415
13	5.000	0.397	0.3825	0.759263	1.74	1.32111675
14	6.190	0.397	0.3825	0.939967	1.74	1.635542537
15	0.780	0.397	0.3825	0.118445	1.74	0.206094213
16	1.500	0.397	0.3825	0.227779	1.74	0.396335025
17
18					total	14.27334537
19					w/ duplicated parts	28.54669073
20
21	Overlaps
22	lengths (cm)	width(cm)	thickness (cm)	volume (cm^3)	density (g/cm^3)	expected mass (g)
23	0.397	0.397	0.3825	0.0602854425	1.74	0.10489667
24
25					number of overlaps	7
26					total	0.7342766897
27
28	Support & Feet
29	Support (ankle)	Area (cm^2)	thickness (cm)	volume (cm^3)	density (g/cm^3)	expected mass (g)
30		2.917698	0.3825	1.116019485	1.74	1.941873904
31					number of ankles	2
32					total	3.883747808
33	Feet	Area (cm^2)	thickness (cm)	volume (cm^3)	density (g/cm^3)	expected mass (g)
34		32.258	0.3825	12.338685	1.74	21.4693119
35
36
37	Total weight of one leg		expected mass		Joint Screws
38	Weight of one Leg without overlaps		27.07813735			expected mass (g)
39	Support		3.883747808			0.5
40	Feet		21.4693119		number of joints	16
41	Joint screws		8.00		total	8.00
42		total	60.43119706
43
44	Body (box)
45	Surface Area	thickness	Vol. of material	density	expected mass (g)
46	380.6444	0.3825	145.596483	1.74	253.3378804
47
48	Mass Report
49	Resource	Expected weight (g)	Measured weight (g)	Uncertainty	Margin (g)	Source Link
50	3DoT Board	15.00	15.20	10%	1.50	blog post
51	RCR123A	15.00	17.00	10%	1.50	blog post
52	Servo (2)	27.60	9.10	10%	2.76	amazon
53	Legs	45.00	0.00	10%	4.50	Mass Blog Post
54	Body	240.00	118.00	10%	24.00	Mass Blog Post
55	Ultrasonic sensor	8.50	7.94	10%	0.85	HobbyKing
56	UV sensor (2)	0.60	0.85	10%	0.06	adafruit
57	IR LED (2)	2.00	0.85	10%	0.20	Amazon
58	Shaft Encoder	1.00	0.00	10%	0.10	pololu
59	Screws/Bolts	8.00	0.00	10%	0.80
60	Gyro	18.10	1.10	10%	1.81	Amazon
61	PCB (3)	30.00	12.00	10%	3.00
62	dc motor(2)	70.00	19.90	10%	7.00	RobotShop
63
64		Unit (g)
65	Project Allocation	800
66	Total Margin	48.08
67	Total Weight	480.80
68	Max. Expected	528.88
69	Contingency	271.12
70	Total Measured	201.94
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