Calculating The Moment Of Inertia - Epson GX Series Manual

Industrial Robot: SCARA Robots GX series Manual

3.4.3.2.7 Calculating the Moment of Inertia

An example of calculating the moment of inertia of a load (hand holding a workpiece) is shown below.
The moment of inertia of the entire load is calculated by the sum of (a), (b), and (c).
Symbol Description
a Hand
b Workpiece
c Workpiece
d Shaft
e Rotation axis
The methods for calculating the moment of inertia for (a), (b), and (c) are shown below. Use the moment of inertia of these
basic shapes as a reference to find the moment of inertia of the entire load.
(a) Moment of inertia of a rectangular parallelepiped
a
質量m
Symbol
a Rotation axis
c Center of gravity of rectangular parallelepiped
c
Description
Rev.7
228