In Robot, the positions of the center of gravity and the geometrical center of a structure are determined in the following manner:
Geometrical center
i = x,y,z
Center of gravity
- For a 3D structure:
The dead load acts in the Z direction.
Xc[0] = Sum(My(0,0,0))/Sum(Pz)
The dead load acts in Z direction.
Xc[1] = -Sum(Mx(0,0,0))/Sum(Pz)
The dead load acts in X direction.
Xc[2] = -Sum(My(0,0,0))/Sum(Px)
- For plates and grillages:
The dead load acts in Z direction.
Xc[0] = Sum(My(0,0,0))/Sum(Pz)
The dead load acts in Z direction.
Xc[1] = - Sum(Mx(0,0,0))/Sum(Pz)
Xc[2] = 0
- For 2D frames and trusses as well as plane stress / deformation structures:
The dead load acts in Z direction.
Xc[0] = Sum(My(0,0,0))/Sum(Pz)
Xc[1] = 0
The dead load acts in X direction.
Xc[2] = -Sum(My(0,0,0))/Sum(Px)
- For axisymmetric structures:
The dead load acts in Y direction.
Xc[0] = 0
Xc[1] = 0
The dead load acts in X direction.
Xc[2] = -Sum(My(0,0,0))/Sum(Px)