Epson ES Series Manipulator Manual page 40

5. End Effectors
28
(a) Moment of inertia of a rectangular parallelepiped = m
Figure 16 (a). Rectangular parallelepiped
(b) Moment of inertia of cylinder = m
(c) Moment of inertia of a sphere = m
Figure 16 (c). Sphere
Rectangular parallelepiped's
Rotation center
center of gravity
Mass m
L
h
2
r
+ m × L
2
Cylinder's center
of gravity
r
Mass m
L
Figure 16 (b). Cylinder
2
2
+ m × L
r
5
Rotation center
Mass m
L
Part 1: Setup & Operation
2 2
b + h
+ m × L
12
b
2
Rotation center
2
Sphere's center
of gravity
r
2