Denso HS-G Series General Information Manual page 42

1. Cylinder (1)
2. Cylinder (2)
(The axis of rotation passes through the center of gravity.)
3. Rectangular parallelepiped
(The axis of rotation passes through the center of gravity.)
Calculation example : When calculating the moment of inertia of a complicated shape, divide it into simple
parts as much as possible for easier calculations.
As shown in the figure below, divide the hand into three parts ( (1), (2), (3) ).
Calculation Example of Hand's Moment of Inertia Around the T Axis
Moment-of-inertia Formulas
(Axis of rotation = Center axis)
4. Sphere
5. Center of gravity not on the axis of rotation.
Ig: Moment of inertia around center of gravity
l: Moment of inertia
m: Mass
r: Radius
a, b, c, : Length
36
(Axis of rotation = Center axis)
2
[kgm ]
[kg]
[m]
[m]