Epson LS3-401 series Manipulator Manual page 66

Setup & Operation 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
52
Work piece (b)
Whole moment
Moment of inertia
=
of inertia of end effector (a)
Rotation center
L
h
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 × L
m
12
2
r
+ m × L
m
2
2
2
LS Rev.10