Epson SCARA ROBOT Manipulator Manual page 77

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
G6 Rev.21
Work piece (b)
Whole moment Moment of inertia
=
of inertia
of end effector (a)
Rotation center
L
h
Setup & Operation 4. Setting of End Effectors
Rotation center
Joint #3 shaft
Moment of inertia
+
of work piece (b)
Rectangular parallelepiped's center of gravity
Mass (m)
b
Rotation center
r
Mass (m)
L
End effector (a)
Work piece (c)
Moment of inertia
+
of work piece (c)
2 2
b + h
m + m × L
12
2
r
m + m × L
2
2
2
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