Harmonic Drive FHA-Cmini Series, Manual

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Calculating inertia moment
Appendix
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13-2 Calculating inertia moment
Formula of mass and inertia moment
(1) Both centerlines of rotation and gravity are the same:
The following table includes formulas to calculate mass and inertia moment.
m: mass (kg); Ix , Iy , Iz : inertia moments which rotate around x- , y- , z- axes respectively (kg·m
2
)
G: distance from end face of gravity center
ρ : specific gravity
Unit Length: m; Mass: kg; Inertia moment: kg·m
2
Object form
Mass, inertia,
gravity center
Object form
Mass, inertia,
gravity center
Cylinder Circular pipe
Slanted cylinder Ball
Ellipsoidal cylinder Cone
Rectangular pillar Square pipe
R
L
z
x
y
ρ L R m
2
π =
2
R m
2
1
Ix
=








+ =
3
L
R m
4
1
Iy
2
2








+ =
3
L
R m
4
1
Iz
2
2
R
1
L
R
2
z
x
y
R
1
: outer diameter,
R
2
: inner diameter
( )
ρ π
L R R m
2
2
2
1
− =
( )








+ + =
3
L
R R m
4
1
Iy
2
2
2
2
1
( )
2
2
2
1
R R m
2
1
Ix + =
( )








+ + =
3
L
R R m
4
1
Iz
2
2
2
2
1
B
L
z
x
y
C
ρ L BC m
4
1
=
( )
2 2
C B m
16
1
Ix + =








+ =
3
L
4
C
m
4
1
Iy
2 2








+ =
3
L
4
B
m
4
1
Iz
2 2
R
L
z
x
y
G
ρ π
1
L R
3
m 2
=
2
R m
10
3
Ix =
( )
2 2
L 4R m
80
3
Iy + =
( )
2 2
L 4R m
80
3
Iz
+ =
4
L
G
=
z
x
y
C
B
A
ρ A
BC m
=
( )
2 2
C B m
12
1
Ix + =
( )
2 2
A C m
12
1
Iy
+ =
( )
2 2
B A m
12
1
Iz + =
D
B
A
z
x
y
( )
ρ D - B 4AD = m
( )
{ }
2
2
D D - B m
3
1
Ix
+ =
( )






+ + =
2
2
2
D D - B
A
m
6
1
Iy
2
( )






+ + =
2
2
2
D D - B
A
m
6
1
Iz
2
ρ L R m
2
π =
( ) { }
θ θ
2 2 2 2
sin L cos 1 3R
m
12
1
I
+ + ×
=
θ
R
L
θ
R
ρ π
3
R
3
4
m
=
2
R m
5
2
I
=
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