Epson LS20 Series Manipulator Manual page 60

Setup & Operation 4. Setting of End Effectors
(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
48
Rectangular parallelepiped's center of gravity
Rotation center
Mass (m)
L
h
Rotation center
r
Mass (m)
Rotation center
Mass (m)
L
b
L
Sphere's center of gravity
r
2 2
b + h
2
m + m × L
12
2
r
2
m + m × L
2
2
2 2
m r + m × L
5
LS20 Rev.4