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ID : 935
Moment-of-Inertia Formulas
When calculating the moment of inertia around J4, J5 and J6 of the end-effector, use the formulas given in Following Table and Figure.
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1. Cylinder (1) (Axis of rotation = Center axis)
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4. Sphere (Axis of rotation = Center axis)
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2. Cylinder (2)
(The axis of rotation passes through the center of gravity.)
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5. Center of gravity not on the axis of rotation
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3. Rectangular parallelepiped (The axis of rotation passes through the center of gravity.)
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l : Moment of inertia [kgm2] m : Mass [kg] r : Radius [m] a, b, c, L : Length [m] |
End-effector Moment of Inertia Calculation Example
Moment of Inertia Around J6
Calculation example : 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),(3)).
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Moment of Inertia Around J4 and J5
For the end-effector shown below, the moment of inertia around J4 and J5 can be calculated according to the same formula.
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ID : 935