Omron Viper 650 User Manual page 37

For the end effector shown above, the moment of inertia around J4 and J5 can be calculated
according to the same formula.
Moment of inertia around J4 and J5 of ① : I
l
Moment of inertia around J4 and J5 of ② : I
l
Moment of inertia around J4 and J5 of ③ : I
l
Moment of inertia around J4 and J5 of entire end-effector: I
l
05173-060 M
Figure 3-10. Moment of Inertia Around J4 and J5
Viper 650/850 Robot with eMB-40/60R User's Guide
Chapter 3: Robot Installation
(from 3 and 5 in previous table)
1
(from 2 and 5 in previous table)
2
(from 2 and 5 in previous table)
3
I
J4 J5
37