YASKAWA Motoman UP6, Инструкция по эксплуатации

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3.11 ARM Control
3-57
• The own moment of
inertia
calculation for hexahedron and cylinder
The own moment of
inertia
of hexahedron and cylinder can be calculated by the next
expression when the center of gravity is at the center.
Refer the expression when the calculation of the moment of
inertia
at the center of gravity.
S U P P L E -
M E N T
3 r
2
+ H
2
Ix = Iy = * W
12
r
2
Iz = * W
2
Ly
2
+ Lz
2
Ix = * W
12
Lx
2
+ Lz
2
Iy = * W
12
Lx
2
+ Ly
2
Iz = * W
12
* Unit of Length : [m]
* Unit of Ix, Iy, Iz : [kg.m
2
]
* Unit of Weight : [kg]
X
Y
Z
Iy
Iz
Ix
L y
L x
W e i g h t : W
Lz
H
X
Z
Iz
Ix
r
W e i g h t : W
Iy
Y