Epson T-B Series

T3-B T6-B Manipulator 4. Setting of End Effectors
T-B series Rev.1 75
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
h
b
L
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
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
m
L
Rotation center