Harmonic Drive FHA Series, Manual

Page: 47 / 51

Harmonic Drive LLC 800-921-3332
Appendix 2 Moment of inertia
ρ
ρ
ρ
ρ
θ
θ
m = ABC
ρ
R
1
:outer, R
2
:inner
Appendix 2 Moment of inertia
1.Calculation of mass and moment of inertia
(1) Both centerlines of rotation and gravity are the same:
The following table includes formulas to calculate mass and moment of inertia.
m: mass (kg); Ix, Iy, Iz: moment of inertia for rotation center of x-, y-, z-axis respectively (kg•m2);
G: distance from gravity center to the surface;
p : specific gravity
Unit Length: m; Mass: kg; Inertia: kg•m2
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
44