Epson C12 Series, Manipulator Manual

Page: 62 / 314

Setup & Operation 4. End Effectors
48 C12 Rev.3
(a) Inertia moment of a rectangular parallelepiped
h
b
L
m
Rectangular Parallelepiped’s Center of Gravity Rotation Center
m
+ m × L 2
b 2 + h 2
12
(b) Inertia moment of a cylinder
m
+ m
×
L 2
r 2
2
m
L
r
Cylinder’s Center of Gravity Rotation Center
(c) Inertia moment of a sphere
m
r 2 + m × L 2
2
5
Sphere’s Center of Gravity
r
m
L
Rotation Center