HOME
ID : 4828
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.
|
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] |
Calculation Example of Hand's Moment of Inertia Around the T Axis
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 hand into three parts ( (1), (2), (3) ).
|
|
ID : 4828