ID : 82

Sample Calculation in Designing End-Effectors

When calculating the moment of inertia around J4, J5 and J6 of the end-effector, use the formulas given in following Table and Figure.

Moment-of-Inertia Formulas

1. Cylinder (1)

(Axis of rotation = Center axis)

4. Sphere

(Axis of rotation = Center axis)

2. Cylinder (2)

(The axis of rotation passes through the center of gravity.)

5. Center of gravity not on the axis of rotation

3. Rectangular parallelepiped

(The axis of rotation passes through the center of gravity.)

l : Moment of inertia [kgm²]

m : Mass [kg]

r : Radius [m]

a, b, c, L : Length [m]

When calculating the moment of inertia of a complicated shape, divide it into simple parts as much as possible for easier calculations.

As shown in the figure below, divide the end-effector into three parts (1), (2) and (3).

For the end-effector shown below, the moment of inertia around J4 and J5 can be calculated according to the same formula.

ID : 82