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Spatial spacecraft-manipulator system with six-link manipulator: mass and inertia properties (Yoshida and Umetani, 1993).
| Link | Mass [kg] | Length [m] | Principal moments-of-inertia [kg m2] | ||
|---|---|---|---|---|---|
| Ixx | Iyy | Izz | |||
| Base-spacecraft | 1,700 | 3.5 | 1,434 | 1,434 | 1,735 |
| 1 | 5 | 0.5 | 0.0292 | 0.0292 | 0.0063 |
| 2 | 50 | 2.5 | 0.0625 | 26.1000 | 26.1000 |
| 3 | 50 | 2.5 | 0.0625 | 26.1000 | 26.1000 |
| 4 | 10 | 0.5 | 0.0125 | 0.2150 | 0.2150 |
| 5 | 5 | 0.25 | 0.0063 | 0.0292 | 0.0292 |
| 6 | 5 | 0.25 | 0.0063 | 0.0292 | 0.0292 |
