Omron SCARA R6Y XE Series Installation Manual page 43

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In the same manner, the moment of inertia of a cylinder as shown in the Fig. below is given by
Moment of inertia of a cylinder
Center line
D
h
In the same manner, the moment of inertia of a prism as shown in the Fig. below is given by
Moment of inertia of a prism
Center line
c
b
ρπD
2
h
I=
16
m
=
(
4
ρπD
h
2
J=
x
16g
W
=
4g
I=
J=
x
=
a
ρπD
D
2
h
2
2
h x
2
(
+
)
+
4
3
4
D
2
h
2
) + mx
(kgm
2
)
+
2
4
3
ρπD
D
h
h x
2
2
2
2
(
+
)
+
4
3
4g
D
h
2
2
Wx
2
(
+
)
+
(kgfcmsec
g
4
3
ρabc(a
2
+ b
2
)
m(a
2
+b
+ ρabcx
=
2
12
12
ρabc(a
ρabcx
2
+ b
2
)
2
+
12g
g
W(a
2
+ b
2
)
Wx
2
(kgfcmsec
+
12g
g
... (7)
m : Mass of prism (kg)
W : Weight of prism (kgf)
3
2
)
... (6)
23208-F0-00
2
)
+ mx
(kgm
2
)
2
2
)
23209-F0-00
3-19

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