36
Moment-of-inertia Formulas
1. Cylinder (1)
(Axis of rotation = Center axis)
4. Sphere
(Axis of rotation = Center axis)
2. Cylinder (2)
(The axis of rotation passes through the center of gravity.)
5. Center of gravity not on the axis of rotation.
Ig: Moment of inertia around center of gravity
3. Rectangular parallelepiped
(The axis of rotation passes through the center of gravity.)
l:
Moment of inertia
[kgm
2
]
m:
Mass
[kg]
r:
Radius [m]
a,
b,
c, : Length
[m]
Calculation example : When calculating the moment of inertia of a complicated shape, divide it into simple
parts as much as possible for easier calculations.
As shown in the figure below, divide the hand into three parts ( (1), (2), (3) ).
Calculation Example of Hand's Moment of Inertia Around the T Axis
Summary of Contents for HS-4535G
Page 1: ...ROBOT Horizontal articulated HS G SERIES GENERAL INFORMATION ABOUT ROBOT...
Page 6: ......
Page 18: ...12 1 Outer dimensions and workable space HS G series Floor mount...
Page 26: ...20 Z axis PTP control on the HS 4535 G T axis PTP control on the HS 4535 G...
Page 27: ...Chapter 3 Specifications of the Robot Unit 21 All axes CP control on the HS 4535 G...
Page 30: ...24 All axes CP control on the HS HSS 4545 G...
Page 32: ...26 Z axis PTP control on the HS HSS 4555 G T axis PTP control on the HS HSS 4555 G...
Page 33: ...Chapter 3 Specifications of the Robot Unit 27 All axes CP control on the HS HSS 4555 G...
Page 54: ......
Page 56: ......
