Epson LS20, Manipulator Manual, Page: 60 / 176

Setup & Operation 4. Setting of End Effectors
48 LS20 Rev.4
(a) Moment of inertia of a rectangular parallelepiped
h
b
L
Mass (m)
Rectangular parallelepiped’s center of gravity Rotation center
m + m × L
2
b
2
+ h
2
12
(b) Moment of inertia of a cylinder
m + m × L
2
r
2
2
Mass (m)
L
r
Cylinder’s center of gravity
Rotation center
(c) Moment of inertia of a sphere
m r
2
+ m × L
2
2
5
Sphere’s center of gravity
r
Mass (m)
L
Rotation center