Calculating The Moment Of Inertia - Epson ES Series Manipulator Manual

Part 1: Setup & Operation

Calculating the moment of inertia

The moment of inertia is defined as "the ratio of the torque applied to a rigid body free to
rotate about a given joint to the angular acceleration thus produced about that joint". This
value is typically referred to as "the moment of inertia", "inertia", or "GD
an example of how to calculate the moment of inertia.
<Example> Consider an end effector and work piece such as those shown in the diagram
below. The moment of inertia of the entire load is found using the sum of each
of the parts (a) to (c).
Moment of inertia
of the whole
Work piece (b)
Figure 15. Example of load (end effector carrying work pieces)
The method of calculating the respective moments of inertia for (a), (b) and (c) is shown
below. Using these basic formulas for moment of inertia as a reference, find the moment of
inertia for the load as a whole.
Moment of inertia Moment of inertia
= +
of end effector (a) of work piece (b)
Rotation center
Joint #3 shaft
End effector (a)
5. End Effectors
2
". The following is
Moment of inertia
+
of work piece (c)
Work piece (c)
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