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How to find the inertia moment of each axis
The following section shows general methods of calculating the inertia moment around each axis.
Inertia moment around each axis
z
m
m
Z
I
Y
X
m
I
+
+
⋅
=
)
(
2
2
・
x
m
m
X
I
Z
Y
m
I
+
+
⋅
=
)
(
2
2
・
y
m
m
Y
I
Z
X
m
I
+
+
⋅
=
)
(
2
2
・
X: Axis parallel to X axis on tool COG
Y: Axis parallel to Y axis on tool COG
Z: Axis parallel to Z axis on tool COG
Ix: Inertia moment around X axis passing through the tool COG
Iy: Inertia moment around Y axis passing through the tool COG
Iz: Inertia moment around Z axis passing through the tool COG
m: Load mass
(Xm, Ym, Zm): OCG of load
Edge of shaft
