Harmonic Drive FHA Mini Series, Руководство пользователя

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Appendix 3 Moment of inertia
FHA-mini
- 47 -
3-2 Inertia of cylinder
The moment of inertia of a
cylinder may be obtained from
the graphs to the right.
The above graph is applied for
alumimum (specific gravity: 2.7)
and the lower for steel (specific
gravity: 7.85).
The double-dot-chain lines
indicate the allowable inertia for
each actuator.
(Example)
Material: Aluminum
Diameter: 100mm
Length: 7mm
Form: cylinder
As the diameter is 100mm, the
radius is 50mm. Therefore, the
above graph would indicate that
the inertia is:
Approx. 1.9X10
-4
kg
･
m
2
（
Exact value:0.000186 kg
･
m
2
）
1000
100
10
1
0.1
0.01
0.001
10
-4
10
-5
10
-6
10 100 1000 20 30 50 70 200 300 500 700
Inertia (specific gravity: 2.7)
Moment of inertia (kg
･
m
2
)
Radius
R(mm)
Length
（ mm ）
1000
100
10
1
FHA-8C-30
FHA-11C-30
FHA-14C-30
FHA-8C-50
FHA-11C-50
FHA-14C-50
FHA-8C-100
FHA-11C-100
FHA-14C-100
1000
100
10
1
0.1
0.01
0.001
10
-4
10
-5
10
-6
10 100 1000 20 30 50 70 200 300 500 700
Inertia (specific gravity: 7.85)
Moment of inertia
(kg ･ m
2
)
Radius R(mm)
Length （ mm ）
1000
100
10
1
FHA-8C-30
FHA-11C-30
FHA-14C-30
FHA-8C-50
FHA-11C-50
FHA-14C-50
FHA-8C-100
FHA-11C-100
FHA-14C-100
Radius
Length