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Calculation example : When calculating the
simple parts as much as possible for easier calculations.
As shown in the figure below, divide the end-effector into three parts (Q, R, S).
(1) Moment of inertia around J6
Robot flange
center
φ40
R
φ20
Around J6
Around J6
Center of
S
R
gravity of
(2) Moment of inertia around J4 and J5
80
Figure 2-7. Moment of Inertia Calculation Examples
moment of inertia of a complicated shape, divide it into
Q
Center of
Q
gravity of
Center of
S
gravity of
φ40
Unit: mm
For the end-effector shown below, the moment of
inertia around J4 and J5 can be calculated according
to the same formula.
Moment of inertia around J4 and J5 of Q: I
Moment of inertia around J4 and J5 of R: I
Moment of inertia around J4 and J5 of S: I
80
Moment of inertia around J4 and J5 of entire end-effector: I
Adept Viper s1300 Robot User's Guide, Rev B
Moment of inertia around J6 of Q: I
Moment of inertia around J6 of R: I
Moment of inertia around J6 of S: I
Moment of inertia around J6 of entire end-effector: I
1.03 × 10
-3
2
[kgm
]
1.39 × 10
-3
2
[kgm
]
2.30 × 10
-3
2
[kgm
]
-2
2.54×10
Designing End-Effectors
Table 3-5
(from 3 and 5 in Table 2-3)
1
Table 3-5
(from 1 and 5 in Table 2-3)
2
(from 1 and 5 in Table 2-3)
Table 3-5
3
J6
(from 3 and 5 in Table 2-3)
Table 3-5
1
2
((0.08 + 0.005)
+0.01)
(from 2 and 5 in Table 2-3)
Table 3-5
2
2
2
((0.08 + 0.01 + 0.02)
+0.04
Table 3-5
(from 2 and 5 in Table 2-3)
3
2
2
((0.08 + 0.01 + 0.05)
+0.05
, I
J4
J5
2
[kgm
]
31
)
)
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