5. End Effectors Part 1: Setup & Operation
28
b
2
+ h
2
(a) Moment of inertia of a rectangular parallelepiped =
12
+ m × L
2
Rectangular parallelepiped’s
center of gravity
Rotation center
h
L
b
Mass m
Figure 16 (a). Rectangular parallelepiped
r
2
(b) Moment of inertia of cylinder = m
2
+ m × L
2
Cylinder’s center
of gravity
Rotation center
Mass m
L
r
Figure 16 (b). Cylinder
2
(c) Moment of inertia of a sphere = m
5
r
2
+ m × L
2
Sphere’s center
of gravity
Rotation center
r
Mass m
L
Figure 16 (c). Sphere
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