Moment Of Inertia Around J4, J5 And J6 - adept technology AdeptViper s650 User Manual

Chapter 3 - Robot Installation

Moment of Inertia Around J4, J5 and J6

Design an end-effector so that its moments of inertia around J4, J5, and J6 (including
workpiece) do not exceed the maximum allowable moment of inertia of the robot.
Moment of inertia around J4, J5, and J6 of end-effector (including mass of workpiece)
must be less than or equal to the maximum allowable moment of inertia
Maximum allowable moment of inertia around J4 and J5: 0.295 kgm
Maximum allowable moment of inertia around J6: 0.045 kgm
When calculating the moment of inertia around J4, J5, and J6 of the end-effector, use the
formulas given in
1. Cylinder (1)
(Axis of rotation = Center axis)
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.)
36 AdeptViper s650/s850 Robot User's Guide, Rev A
Table 3-3, and see examples in
Table 3-3. Moment of Inertia Formulas
2
Figure 3-7 on page
4. Sphere
(Axis of rotation = Center axis)
5. Center of gravity not on the axis of rotation
:
Inertia moment around center of gravity
l: Moment of inertia
m: Mass
r: Radius
b, c, : Length
2
37.
kgm 2 
kg
m
m