Harmonic Drive RSF supermini Series User Manual

A-2 Moment of inertia
A-4
4
5
App
Appendix
Shape of object
Mass, inertia, position of
center of gravity
Shape of object
Mass, inertia, position of
center of gravity
Rhombic prism
Regular hexagon prism
Equilateral triangular prism
Right-angled triangular prism
 Example of density
The following table shows informative values of density. Please check actual specific gravities of
materials individually.
Material
Density
Material
Density
Material
Density
SUS304
7930
Aluminum
2700
Epoxy resin
1900
S45C
7860
Duralumin
2800
ABS
1100
SS400
7850
Silicon
2300
Silicon resin
1800
Cast iron
7190
Quartz glass
2200
Polyurethane rubber
1250
Copper
8920
Teflon
2200
Brass
8500
Fluorocarbon resin
2200
(2) When center of revolution and line of center of gravity do not match
Moment of inertia when axis of center of gravity and axis of revolution of an inertia field do not match
is calculated by the following formula.
I: Moment of inertia when axis of center of gravity and axis of revolution do
not match (kgm
2
)
Ig: Moment of inertia when axis of center of gravity and axis of revolution
match (kgm
2
)
Calculated by formula shown in (1) in accordance with shape.
m: Mass (kg)
F: Distance between axis of revolution and axis of center of gravity (m)
(3) Moment of inertia of linear motion object
The moment of inertia converted into an FHA-C actuator axis of a linear motion object driven by a
screw is calculated by the following formula.
I: Moment of inertia converted into actuator axis of a linear motion object (kgm
2
)
m: Mass (kg)
P: Amount of linear movement per revolution of actuator (m/rev)
Axis of
revolution
Axis of center
of gravity
F
ρABC
2
1
m
=








+=
2
2
C
3
2
2
B
m
12
1
Ix






+=
22
C
3
2
Am
12
1
Iy








+=
2
B
A
m
12
1
Iz
2
2
3
C
G
=
G
z
x
y
B
A
C
G
1
z
x
y
B
A
G2
C
ABCρ
2
1
m =
(
)
22
CBm
36
1
Ix +=






+=
22
C
3
2
Am
12
1
Iy
3
C
G
1
=






+=
22
B
3
2
A
m
12
1
Iz
3
B
G
2
=
z
x
y
C
A
B
ρABC
2
1
m =
(
)
22
CBm
24
1
Ix
+=
(
)
2
2
2A
C
m
24
1
Iy +
=
(
)
22
2ABm
24
1
Iz +=
z
x
y
B
B
√
3
A
2
Bm
12
5
Ix =






+
=
2
2
B
2
5
Am
12
1
Iy






+=
22
B
2
5
Am
12
1
Iz
ρAB
2
33
2
=m
2
mFIgI +
=
2
2
P
mI






π
=

Harmonic Drive RSF supermini Series Specifications

General

Brand	Harmonic Drive
Model	RSF supermini Series
Category	Controller
Language	English