#bifilar pendulum

[robokitchen]

Moment of inertia with respect to the yaw axis

Same as just before, but with respect to the yaw axis this time.

Oscillation period of the bifilar pendulum:

20T = 23.486 - 2.848, T = 1.0319s

20T = 44.056 - 23.486, T = 1.0285s

20T = 64.630 - 44.056, T = 1.0287s

Average T = 1.0297s

Other experimental quantities:

m = 0.958kg

b = 0.235m

L = 0.70m

Moment of inertia:

$$I = \frac{m g T^2 b^2}{4 \pi^2 L}$$

$$I = 0.0199 \:kg\:m^2$$

[robokitchen]

Moment of inertia with respect to the roll/pitch axes

We're doing the same experiment as this guy. The moment of inertia was measured with respect to the pitch axis, but we would expect the same result with respect to the roll axis because of the quadcopter symmetries. Conveniently the roll, pitch and yaw axes are principal axes of rotation.

Oscillation period of the bifilar pendulum:

20T = 15.867 - 2.555, T = 0.6656s

20T = 29.010 - 15.867, T = 0.65715s

20T = 42.154 - 29.010, T = 0.6572s

20T = 55.231 - 42.154, T = 0.65385s

Average T = 0.65845s

Other experimental quantities:

m = 0.958kg

b = 0.235m

L = 0.51m

Moment of inertia:

$$I = \frac{m g T^2 b^2}{4 \pi^2 L}$$

$$I = 0.0112 \:kg\:m^2$$