Epson LS10-B Series User Manual page 53

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
(c) Moment of inertia of a sphere
LS10-B Rev.6
Rotation center
m
L
h
Rotation center
m
Rotation center
L
Setup & Operation 4. Setting of End Effectors
Rectangular parallelepiped's center of gravity
b
r
L
Sphere's center of gravity
r
m
b 2 + h 2
m + m × L 2
12
r 2
m + m × L 2
2
2
m r + m × L
2 2
5
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