Epson G10 Series, Руководство манипулятора, Страница: 86 / 252

Setup & Operation 4. Setting of End Effectors
74 G10 / G20 Rev.20
The methods for calculating the moment of inertia for (a), (b), and (c) are shown below.
Calculate the total moment of inertia using the basic formulas.
(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