Epson ProSix S5 Series - Page 71

Setup & Operation 4. End Effectors
S5 Rev.5 57
(a) Moment of inertia of a rectangular parallelepiped
h
b
L
Weight = m
Rectangular Parallelepiped’s Center of Gravity
Rotation Center
m
+ m × L
2
b
2
+ h
2
12
(b) Moment of inertia of a cylinder
m
+ m × L
2
r
2
2
Weight = m
L
r
Cylinder’s Center of Gravity
Rotation Center
(c) Moment of inertia of a sphere
m
r
2
+ m × L
2
2
5
Sphere’s Center of Gravity
r
Weight = m
L
Rotation Center