Epson C8 Series, Manipulator Manual, Page: 71 / 346

Setup & Operation 4. End Effectors
C8 Rev.13 57
Calculating the Inertia Moment
Refer to the following example formulas to calculate the inertia moment of the load (end
effector with work piece).
The inertia moment of the entire load is calculated by the sum of (a), (b), and (c).
Work Piece (b) Work Piece (c)
End Effector (a)
Rotation Center
Moment of Inertia
of End Effector (a)
=
Moment of Inertia
of Work Piece (b)
+
Moment of Inertia
of Work Piece (c)
+
Whole Moment
of Inertia
The methods for calculating the inertia moment for (a), (b), and (c) are shown in this and
the next page. Figure out the whole inertia moment using the basic formulas below.
(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