How to calculate payload of a robot
How to calculate payload of a robot. Sep 17, 2018 · To calculate the extra torque required to move (i. 3 to calculate a new swing trajectory in real time to realize the leg movement, and the maximum step distance Mar 7, 2018 · The Drive Motor Sizing Tool is intended to give an idea of the type of drive motor required for your specific robot by taking known values and calculating values required when searching for a motor. Note that the term “actuator” is used rather than motor Dec 16, 2021 · This tutorial walks you through all the steps of configuring a tool/end-effector:00:00 Introduction00:20 Teach TCP01:27 Test TCP is correct01:57 Teach orient Apr 9, 2024 · This will set the payload and use the active TCP as COG. Is it possible to find out the payload a UR is carrying at any point in time and whats the accuracy Aug 30, 2021 · Use the graph below to check that your payload and offset are within the shaded region. If you need to calculate the values by hand, most scenarios on a robot will be 2 body systems: a gripper assembly, and an item to be gripp Dec 4, 2013 · Shafi says robot selection is critical. However, one should always opt for an actuator with a higher force than the load to be on the safe side. Kuka has a free tool to verify the dimensioning properly called KukaLoad. Mar 6, 2018 · Yes, all the robots have the same payload settings and the payload never switches from Payload 1 (250 Kg). 18. Calculating the payload capacity of a robot involves considering various factors such as the weight of the robot itself, its structural components, and any additional payloads or accessories. May 21, 2018 · Technical Questions. 3. From online motor sizing tools, I am getting a total torque requirement of 6 nM for the entire system. But there are far fewer (only no more than 13) payload dynamic parameters than the robot dynamic parameters to be calculated, and it is actually Jan 13, 2017 · 2. I have the Fanuc Excel sheet where you can enter in the mass, inertia, and the center of gravity of your robot tool. This offset should be analyzed in the x, y, and z direction relative to the tool flange. See full list on motioncontrolsrobotics. No two robots are exactly alike. The robot can be mounted in upright and inverted postures, and on angled surfaces and walls. 1) To use this equation, look up a set of motors you think will work for your robot and write down the torque and rps (rotations per second) for each. It's possible that she could have found a trailer this size within the Jeep's tow capacity and payload. Payload measurement on robot Technical Questions. So your total payload on the robot would be 5kg with a CoG of [0,0,110] which falls safely in the shaded area on the graph above. Typically, a safety factor is used so that the Nov 27, 2019 · Calculate the weight of these items carefully and don’t underestimate. The equations used in the calculator to determine the torque required at any given lifting joint (raising the arm vertically) in a robotic arm are presented here. As a variation of a unicycle, a robot with a rugby-ball-shaped wheel where ne is the dimension of the extended state vector ze = χ⊤1⊤. You can usually find the information you need in your vehicle's owner's manual. Robot Inertia. 3m CoG in faceplate Y, 90kg payload), and that robot won't work with that tool/payload. Engineers use mathematical models and simulations to estimate the maximum weight that a robot can handle without Dec 4, 2013 · Shafi says robot selection is critical. Bigger is not always better. If your vehicle is capable of towing what you require, you will see a message at the top of the page advising, “Weight is within your vehicle’s ratings. You’ll likely find your vehicle’s towing capacity rating in your owner’s manual and/or on the driver’s side door jamb. Please… It indicates the most load or weight an aircraft, vehicle or vessel can carry. Aug 29, 2021 · That leaves you with the following calculation: CoGz = ( (2kg * 50mm) + (3kg * 150mm)) / (2kg + 3kg) = 110mm. Dec 3, 2019 · Sort by. Total Payload (minus hitch weight) 0. 1. www. With the rated voltage, speed, and torque of the motor, we calculate the required power and minimum battery capacity to power the robot successfully. Dec 1, 2010 · In two-link flexible joints robot the payload is. Jun 29, 2017 · The payload is easier to measure and easier to calculate. As I mentioned above, she was initially told that she could tow a 25' camper. Find out what the current process cost is by providing your figures. Unacceptable Load – based on robot inertia. the torques and the positions (thus also from speeds and Aug 30, 2023 · Soft robot arms offer safety and adaptability due to their passive compliance, but this compliance typically limits their payload capacity and prevents them from performing many tasks. Subsequent changes of TCP also changes COG accordingly. Feb 16, 2021 · Hello, if you go to the extreme precise robot motion, TCP becomes one of the most important things that you have to set up before teach. m 1 = Dry mass except payload. Based on your inputs, the calculator will provide the maximum weight of the trailer that your vehicle can safely tow. Transcript. Payload capacity is the amount of weight a vehicle can carry, while towing capacity is the amount of weight it can pull. its weight is 18 kg and its maximum payload is 3 kg. Mar 7, 2018 · The Drive Motor Sizing Tool is intended to give an idea of the type of drive motor required for your specific robot by taking known values and calculating values required when searching for a motor. Enter the length of each linkage. Inertia is dependent on mass and the radius or length of the object and the axis of rotation. Now enter the weight of each arm linkage. I am confused about the moments of inertia to take about the axis of the robot flange? I am using Kuka Robot. 378 in), repeatability of ± 0. I know of several robot manufacturers who can perform automatic inertial measurement for 6 axis robots. Inertia is a property of matter where the object resists changes in velocity (speed and/or direction). under loaded conditions and. Aug 27, 2019 · Fenceless safety comes in many forms and form factors. Jul 8, 2020 · 1. To calculate your truck’s towing capacity, subtract the curb weight from its GCVWR. That is, mass times gravity times the horizontal distance Apr 19, 2016 · A motor needs current to produce torque. Now to algebra our way out of this. These are big robots with a large payload capacity and long reach. Fanuc, for example, moves with axes 5 and 6 each from +180 to -180 °, once with and once without load. We also investigate the effect on a mobile robot’s payload due to the increase in the diameter of the wheel. Jan 1, 2008 · The performance analysis of industrial robot. If you need to offset the payload beyond the 800mm max on the graph, please reach back out, and we can Sep 21, 2018 · THIS POINT INCLUDED IN OUR BIW WELDING FIXTURE DESIGN COURSE SYLLABUS IN DETAIL . Every motor has a torque vs speed inverse relationship. sorry for my weak english. Oct 20, 2023 · Now that we have explored the various factors that affect drone flight time, let’s dive into how you can calculate the expected flight duration for your specific drone and flight conditions. These labor rates can be changed to reflect your exact labor rates, making the calculations more In calculating robot stand stability, as introduced above, it is important to consider the weight, force, and reach of your robot. The other is to make 2 or 3 different tool, with the same coords, but different load data, and use it im my program, the abb manual said than it´s also a good way to define the tool data. Source. 8 m/s^ (2) Number of motors = 4. Explore the academic achievements of Rose-Hulman Institute of Technology in this graduate thesis collection. It has torque sensitivity in all axes and the repeatability of this robot varies from ±0. 2 Ib), horizontal reach of 1813 mm (71. various distance. Here are some common types of robots: Palletizing Robots — Probably the best option for most situations. 0:00 / 5:43. Trailer Weight or Towing Capacity. So choose what acceleration is acceptable to you and the length of your arm. 3kg payload. While an ill-advised small payload robot may end up costing more in the end. Tongue Load (10%) and Max. 2: Degrees of Freedom of a Robot. Also, Incorrect payload affects the stability of a robot. com. Enter in values for your robot arm. This is because torque due to gravity is: τ = m ⋅ g ⋅rxy τ = m ⋅ g ⋅ r x y. Apr 6, 2022 · MMI is a directly related of your end effector mechanical design (mass, size, etc. Each varies depending upon payload, reach, axes, and application capabilities, among other aspects. sign in. The jelly-bean shape, inside which is written "Motion range of the J5 axis center" demonstrates the accessible movement range of the arm. 17. These could include a grill guard, ladder or material rack, toolbox, generator, compressor, welder, auxiliary fuel tank and more. Enter the maximum torque of the arm (N·m) in the second field. Determine battery capacity: Start by identifying your drone’s battery capacity. Where, GVWR (Gross Vehicle Weight Rating) is the maximum total weight that a vehicle or system is designed to carry, including its own weight (curb weight) and the weight of the Feb 6, 2024 · Calculating Payload Capacity in Robotics. The estimate is based on the mass, inertia, and distance of the tooling’s center of gravity from the endplate of the selected robot. For the XY plot I made the arm stretch out as far as possible, turned it around the base, then reach in as close as possible and turn the other way. because the bad TCP sometimes give a bad shape of Modern Robotics, Chapter 2. Hello, Is it possible to calculate the weight of an object hold by robotic gripper? ajp May 21, 2018, 2:34pm 2. Ahmad Rasdan Ismail, Azmi Hassan , Syamimi Shamsuddin, Mohd Zaki Nuawi, Mohd Nizam Ab Rahman. A typical example is a unicycle. Link. 05000, -0. Oct 15, 2021 · Below is a screenshot of some code using the functions. J6 is at 162% of its max moment allowed. It doesn't matter if the robot is loaded or unloaded, what particular part it transports and so on. IEEE Robot. The -5. GCVWR − Curb Weight = Towing Capacity. 3). 1. Estimate savings. At this point, the difference between payload and grip force should be noted. I realize that the center of gravity affects the robot arm payload ,the far the payload is from the robot flange the harder it is to lift it,but how does the moment of inertia affect also the payload of the robot? The inertia is going to increase with the acceleration of the arm and payload you are lifting. ”. RMF = Torque * rps. This specifically goes into how to convert and understand the unusual inertial Apr 7, 2017 · For a robotic arm like yours where all joint axes are parallel to the ground in all configurations, the maximum torque for any joint occurs at the first joint when the arm is stretched out horizontally. The grip force is usually given by the robot gripper manufacturer. Both cobots (PFL robots) and conventional higher-speed, higher-payload robots can join the action. The proposed approach uses localized body Nov 18, 2016 · However, the maximum payload can only be used as a rule of thumb to dimension a robot. 0N I used is arbitrary. 3. Aug 21, 2018 · Greetings all. Step 1: Convert the logarithmic expression into an exponential one. 000000]) So, I am thinking about using a thread that will constantly run this script parallel to that main program and update the payload according to the forces exerted on the tool Apr 17, 2023 · Calculating Towing Capacity. ). Then, each payload is added, the movements are repeated, and each calculated center of mass and inertia is recorded as a payload. Total power available depends on both current and voltage. In fact, a robot arm cannot have a gripping force, it is the robot gripper itself that is applying a force on We would like to show you a description here but the site won’t allow us. Also, be sure to account for any items you install on the truck or body after calculating the payload. 016167, 0. Feb 20, 2018 · You have to contact Fanuc to get their payload checker, which is a fancy excel sheet that checks whether or not a specific robot will work for the given load. more May 21, 2018, 11:05am 1. I am using Catia-V5 CAD package. 05000, 0. 1 mm. of the link 2 with mass m 2 and length l 2 (Fig. no need to fill the inertia, etc. Naturally, the maximum horizontal extent will be at the height of the J2 axis (1300mm above the base) when the arm is fully extended. set_target_payload(mass, [-0. Design of the high-payload flapping wing robot E-Flap. Our Payload Calculator is a FREE online payload calculation tool, that anticipates the moments and the inertia that your designed end of arm tooling will apply to your robot. Step 7: Max. This corresponds to doing it through the 'Set' node and checking the 'Use active TCP as center of gravity' checkbox. Cargo Weight. set_payload (m, [x, y, z]) where m is the mass in kg and x,y,z denotes the displacement in meters from the tool A robotic arm, which is usually re-programmable, is a type of mechanical arm which functions similar to a human arm. Ensure your units are consistent. 5. Autom. doodlekit. Please… Mar 7, 2013 · The Robot Torque Arm Calculator is intended to help you choose the right motor for each joint of your robotic arm. Zufferey, R. I've been teaching the robot for Laser cutting and Car bumper trimming using Cutting tools held by the robot. 000000, 0. Other robots have limits to payload, speed, and reach. It is a system made of links and joints with multiple degrees of freedom (DOF) with a manipulator at the end to perform various dexterous tasks like gripping, picking and placing objects, etc. Lastly, keep some payload on reserve! Dec 16, 2015 · m 0 = Initial mass except payload. robspotbiw. So, the maximum payload capacity of the truck is 4,000 pounds. So, assuming I wanted to achieve the maximum force to drive the robot, and hence the maximum acceleration (assuming pendulum is balanced), I would need a wheel force of $\small6. Take a look at the Robot Arm Torque Tutorial for more information. Industries for Gantry Robot Apr 12, 2021 · 11 3. The other ABB person said that i can run routine called load identify to identify tool and payload (until today i use load0). The set payload command also zeros the FT sensor, so setting payload too soon will not give you the right measurement. We're going to get x on one side, but first we need to get that yucky natural log out. Feb 28, 2013 · This tutorial is intended to complement the Robot Arm Torque Calculator found in the Dynamic Tools section of GoRobotics. The Denavit-Hartenberg (DH) parameters of the Franka robot are shown in Table 1. e at upper most point, lower most point, extreme right point and extreme left point. The proposed technique is then applied to articulated robots, and MLCC is obtained for a given trajectory. com Jan 19, 2019 · This is a rough description of how to setup payload mass, center of mass and inertial data in a Fanuc robot. Click the "Calculate Payload Capacity May 12, 2022 · This parameter is normally expressed as a force unit (Newtons [N] or pound force [lbf]). Estimated Payload. 220000], [0. If a linkage does not exist in your design, set L to zero. Contact us if you are interested in buying or selling your used robot at (440) 724-6568 or email mm@robotsdoneright. Gantry robots have much higher performance ceilings and are often only constrained by the space available to them. Curb weight is the truck’s empty weight. This video describes common robot joints and derives Grubler’s formula for calculating the degrees of freedom of a mechanism. M Apr 23, 2024 · Robots . Provide basic information about the process you want to automate. $\tau = m a l $ That will give you a starting point. rohan. Jan 14, 2020 · To calculate load torque, multiply the force (F) by the distance away from the rotational axis, which is the radius of the pulley (r) . Configuration Space Topology. The formula is pretty simple: Payload Capacity = Gross Vehicle Weight Rating (GVWR) – Curb Weight. In this paper, we discuss the change in motor torque and the mechanical power due to change in motor speed. 2) Then multiply the two numbers together for each. DC motors are generally used for continuous rotation drive systems, though can be used for partial (angle to angle) rotation as well. Can i save 3-4 waypoints like a wizard then get force for calculate that?. Apr 27, 2018 · Robot arm payload calculations. This discussion is a valuable resource for designing or selecting a power system for an indoor, service-oriented mobile robot capable of carrying a payload of 20 kg and achieving a speed of 1. Joint. Oct 16, 2023 · Many other payload identification methods are based on the idea of using the whole robot dynamic model and the data of all joint positions and torques to solve the load parameters [9,10,11,12]. For the actual payload capacity, subtract the curb weight from the vehicle’s Gross Vehicle Weight Rating (GVWR). Apr 18, 2023 · To calculate payload capacity, subtract your vehicle's curb weight from the vehicle weight rating. Base. By plugging in the numbers, you’ll unveil the precise payload capacity figure to Select Configure. Select Calculate and the Towing Calculator will provide Max Tongue Load and Max Trailer Weight based on the information you entered. Nov 18, 2021 · But if there was any way to add a sensor to the gripper, or to the pickup station, that could ID the wheel and send that to the robot as a Group Input, the above example should work fine. In order to do a proper dimensioning you need the center of gravity, the mass and the inertia of the payload. 1 mm (0. com), the Jeep can safely handle a trailer about 21' long. Play with different automation scenarios and see how much you can save, for example on operators. In the general case, the stand should be designed for the maximum capacity of the robot at maximum payload, reach, and torque – the maximum loading condition that the stand could be required to withstand. There is also resistance against the direction of motion/driving force of the robot, in the form of rolling resistance and aerodynamic drag. This was all done with Forward Kinematics, which can easily calculate the position of the robot’s hand. These MMI limit values are developed experimentally by the manufacturer for full payload & full speed motion in all configurations. ∆v = ln ( [m 0 +x]/ [m 1 +x]) * I sp * 9. Aug 14, 2014 · Robotforum - Support and discussion community for industrial robots and cobots Jul 10, 2023 · To properly calculate your overall towing capacity, the first step is to determine your truck's gross combined vehicle weight rating (GCVWR) and curb weight. 4. A robot with a single wheel is basically unstable with-out dynamic control in order to maintain its balance of a body. That meant turning the anchor, the shoulder, and the elbow. e. It is essential to accurately calculate and set the payload to ensure optimal performance and avoid potential issues. Jul 4, 2019 · Hello, i have a problem with an old FANUC M-6iB When i try to calculate the payload with IDENT function the robot tells me that "IDENT option is not loaded" Any idea on how i can fix this ? Thank you for help in advance ! Photo:… Aug 29, 2019 · The XY workspace plot. Oct 27, 2020 · The robot you choose will depend on the nature of your chosen palletizing task, what type of objects the robot will handle, and what level of performance you require. Most common units are kg-cm and oz-in. If the mass of the load (blue box) is 20 Newtons, and the radius of the pulley is 5 cm away, then the required torque for the application is 20 N x 0. Let's use the 2023 Ford F-150 as an example. Advanced payload analysis for industrial robots: load diagrams and wrist torque Nov 6, 2023 · The formula for calculating the maximum payload capacity is relatively straightforward: Maximum Payload Capacity=Gross Vehicle Weight Rating (GVWR)−Curb Weight. This truck has a gross vehicle weight of 6,010 pounds and a curb weight of 4,465 pounds. Find out how students and faculty contribute to various fields of engineering, science, and humanities. With the curb weight in hand, it’s time to dive into the heart of payload capacity calculation. 05 m = 1 Nm. L: length from pivot to pivot. The torque (T) required at each joint is calculated as a worst case scenario (lifting weight at 90 degrees). Gripper. 1 Robots with One Wheel. the May 12, 2021 · Sometime and some UR robot don’t have a wizard to help for calculate payload and centor of gravity and without drawing or CAD of tool. Tongue Load (15%) Based on the calculated towing capacity, this displays the recommended tongue weight/load exerted on the hitch ball or trailer coupler First, the robot is unloaded (end tool removed) and a pre-set range of movements calculates the current force and inertia of the arm under its factory default conditions. The Franka Emika robot used in this paper is a n 7 DoF torque-controlled robot, 1⁄4. The center of mass is assumed to be 1/2 of L. May 4, 2014 · Dear all, please help me regarding to calculate the payload of the robot having a EOAT. This is the maximum twisting force your robot arm can exert. 81. Chapter 2. You need to evaluate the force at the tool after gripping your parts, but before setting your 4. This calculator will show you the savings your company will accrue each year with the robotic system, using default assumptions for your labor rates. Aug 25, 2023 · It’s All About the Numbers: Payload Capacity Calculation. Dec 13, 2022 · We developed a dynamic model of the system to calculate the parameters shown in Fig. et al. Between each motor joint is an arm linkage L. Describe the process. This is due to friction and other factors which can increase the force required to move Dec 28, 2020 · Different objects have different moments of inertia. This is a big and dangerous robot to be shopping for if you can't Apr 23, 2024 · Here’s the formula: Payload Capacity = GVWR − Curb Weight. Oct 16, 2020 · These numbers, of course, vary by robot payload, reach, and speed (see Figure 2 and Figure 3 for a collection of our data), but in general, larger robots are as collaborative as small ones under this metric. Jun 29, 2023 · The payload refers to the maximum weight that the robot’s wrist can support, including not only the workpieces but also any end-of-arm tooling (EOAT) and bracketing integrated with the robot wrist. For example, SolidWorks used its Mass Properties function to calculate an end effector assembly model's MMI about specified axes. Calculate current process cost. Using the above formula, the truck's payload capacity would equal 1,545 pounds. com has made it easy for you with our Robot ROI Calculator. I have been doing robotics and simulations for a few years now, and something that no one in my field ever seems to know how to do is calculate the payload inertia. For example, your pickup truck’s maximum payload capacity is 1,500 pounds. For example, if a truck has a GVWR of 10,000 pounds and a curb weight of 6,000 pounds, its maximum payload capacity would be: Payload Capacity = 10,000 pounds – 6,000 pounds = 4,000 pounds. A future direction for the field could be to selectively use environmental vectors such as wind to travel larger distances or, similar to allochory seeds, avoid aerial locomotion capabilities altogether and This 270 kg (594 Ib) robot has the following specifications reported by Fanuc: a payload capacity of 16 kg (35. This paper presents a model-based design approach to effectively increase the payload capacity of soft robot arms. In collaborative robot operations, human operators can work in close proximity to the robot system while power is available to the robot’s actuators. for all of those applications, I mostly spend 1 whole day only setting the best and accurate TCP. Passenger Weight. I'm using MATLAB for inverse kinematics. Driving. Follow these steps to use the calculator: Enter the arm length (m) in the first field. And, practically, for a robot with a 2+ meter reach and moving at high speed, having to be a meter away from it is not an unreasonable Oct 31, 2021 · Required robot velocity = 24 m/s. Heck, maybe you could just put a digital scale under the wheel where the robot picks it up, and connect the scale to the robot's inputs. This excludes the vehicle and essential component weight — instead, it represents the total mass of cargo, equipment, passengers and other transportation items. x = Payload. 51\mathrm N$. Acceptable Load – based on robot inertia. only that. 2. But, I want to know how to decide links length. Borderline Load – based on robot inertia. This should be the total length of your robot arm. Required robot Acceleration = 8. My question is how I can calculate the inertia parameter from e. force-torque, programming. If you want to calculate it yourself, you can subtract your vehicle’s curb weight from its GCVWR. What shows the live values of variables in the running program; this includes installation variables, local variables, and URCap enabled variables? Nov 18, 2021 · Based on the chart above (which is backed up by our towing experts at etrailer. The following indicates some of the equations for different objects when calculating load inertia, for simplicity, the axis of rotation will be about the center of the object or central axis. 003937 in). I'm working on pick and place robotic arm with 4 dof. The available power supply current comes into play. Check out the user friendly RMF Calculator, or my outdated excel sheet for calculating RMF . Using only the first equation and the idea that a torque is a force at a distance ($\tau = F \times l$), and point masses for the payload and link masses, you will get a quick first estimate. I want theory or any approach so that I can A model-based design approach to effectively increase the payload capacity of soft robot arms using localized body stiffening to decrease the compliance at the end effector without sacrificing the robot’s range of motion is presented. I placed your values into it (1. Say, I have four point in space upto where my robotic arm should reach i. Oct 9, 2023 · wrench = force() mass = tool_mass + wrench/9. This equation changes if you attach a trailer to your truck or use This paper presents the calculations to select a motor specifically for the design of a mobile robot. Soft robot arms offer safety and adaptability due to their passive compliance, but this compliance typically limits their payload capacity and prevents them May 20, 2016 · The work is also a prime example that demonstrates how engineering can learn from nature to build the next generation of aerial robots. create an angular acceleration) you would calculate the moment of inertia of the part from the end to the pivot using the equation (or an equation similar to): Note this equation calculates the moment of inertia about the center of mass. Dec 15, 2021 · Gantry robots are great choices for these tasks especially as the payload and size demands increase beyond what other robot types can handle. Soft robot arms offer safety and adaptability due to their passive compliance, but this compliance typically limits their payload capacity and prevents them from performing many tasks RMF = Torque * rps. Mar 29, 2021 · To calculate an actuator’s push-pull force if it is mounted straight up, the actuator required should be the same force rating as your required weight. Thanks. Mar 9, 2023 · When the robot body roll range reached the maximum and the robot body velocity of the y-direction was still gradually increasing, the robot immediately uses its own controller and the air swing leg compensation controller proposed in 3. Type of wheel = Omni wheel/Normal wheel (not sure how you calculate for omni wheels as they have rollers on them) Type of Motor = Brushed DC motor. Description. Robot specifications are used to define certain characteristics of an industrial robot. Dec 18, 2015 · Example Loaddata11 , the load is in tool 1 and is calculate with tool 1, Loaddata21, the load is in tool 1 and it is calculate with tool 2. Inertia is calculated using the mass of the End of Arm Tooling and product, the center of gravity of those items, and the distance from the robot face plate to the center Robotics Payload Capacity Calculator. If a linkage does not exist, set the weight to zero. The joints use the payload to calculate its path and compensate for gravity. If you run your motor at a higher voltage (without saturating the back iron) you will have more power available for a given current. . “If a robot is struggling to pick up a part because it doesn’t have enough strength or if it’s oscillating when you’re trying to place a part at high speed, the process will suffer,” says Shafi. considered as a point mass m p which is located at the end. Abstract Aug 30, 2023 · Abstract. In the practical simulations, it's impossible to determine the parameters of robot model exactly, so the trajectory tracking performance of the proportional integral derivative (PID) and computed torque methods significantly decrease. I have LR Mate 200id7L , I want to know how to calculate the maximum allowable payload at End of Arm. g. com In my training last year (july 2008, with ABB MAlaysia), he said that the step i should do is only enter the position of COG from software (i use Solid Work), and enter the mass. wb gf wy nl mg cy do vn fd bg