Moment-of-inertia Formulas

When calculationg the hand's or tool's moment of inertia around the T axis, refer to the moment-of-inertia formulas given below.

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

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) ).

Calculation Example of Hand's Moment of Inertia Around the T Axis