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Setup & Operation 4. Setting of End Effectors

Calculating the Moment of Inertia

Refer to the following examples of formulas to calculate the moment of inertia of load

(end effector with work piece).

The moment of inertia of the entire load is calculated by the sum of each part (a), (b), and

(c).

Work piece (b)

Work piece (c)

End effector (a)

Joint #3 shaft

Rotation center

Moment of inertia

of end effector (a)

Moment of inertia

of work piece (b)

Moment of inertia

of work piece (c)

Whole moment

of inertia

The methods for calculating the moment of inertia for (a), (b), and (c) are shown below.

Calculate the total moment of inertia using the basic formulas.

(a) Moment of inertia of a rectangular parallelepiped

Mass (m)

Rectangular parallelepiped’s center of gravity

Rotation center

m+ m × L

+ h

(b) Moment of inertia of a cylinder

m+ m × L

Mass (m)

Cylinder’s center of gravity

Rotation center

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Epson G3 Series Manuale Utente Pagina 54