Epson LS-B Series Manual page 126

LS10-B Manipulator 4. Setting of End Effectors
The methods for calculating the moment of inertia for (a), (b), and (c) are shown below.
Calculate the total moment of inertia using the basic formulas.
(a) Moment of inertia of a rectangular parallelepiped
(b) Moment of inertia of a cylinder
Cylinder's center of gravity
(c) Moment of inertia of a sphere
108
Rotation center Rectangular parallelepiped's center of gravity
m
L
h
Rotation center
r
m
Rotation center
L
b
L
Sphere's center of gravity
r
m
b 2 + h 2
m + m × L 2
12
r 2
m + m × L 2
2
2
m r + m × L
2 2
5
LS-B series Rev.5