Epson LS-B Series Manual page 68

LS3-B LS6-B Manipulator 4. Setting of End Effectors
Calculating the Moment of Inertia
Refer to the following examples of formulas to calculate the moment of inertia of load (end
effector with work piece). The moment of inertia of the entire load is calculated by the
sum of each part (a), (b), and (c).
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
50
Work piece (b)
Whole moment
Moment of inertia
=
of inertia
of end effector (a)
Rotation center
L
h
Rotation center
Joint #3 shaft
End effector (a)
Moment of inertia
+
of work piece (b)
Rectangular parallelepiped's center of gravity
m
b
Rotation center
r
m
L
Work piece (c)
Moment of inertia
+
of work piece (c)
b 2 + h 2
m + m × L 2
12
r 2
m + m × L 2
2
LS-B series Rev.5