Chapter 3: Robot Installation
Key Meaning
A Cylinder 1
B Axis of rotation = Center axis
C Cylinder 2
D Axis of rotation passes through the center of gravity
E Rectangular Parallelepiped
F Axis of rotation passes through the center of gravity
G Sphere
H Axis of rotation = Center axis
J Center of gravity not on the axis of rotation
K I
g
: Inertia moment around center of gravity (kgm
2
)
I = Moment of inertia (kgm
2
)
m = Mass (kg)
r = Radius (m)
b, c,
l
= Length (m)
Calculation Example
When calculating the moment of inertia of a complicated shape, divide the shape into simple
parts as much as possible for easier calculations.
The following diagrams and tables use an example end-effector shape to demonstrate how to
calculate the moment of inertia.
05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide 35
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