Omron Viper 650 - Page 36

36 Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M
3.10 Designing End-Effectors
Figure 3-9. Moment of Inertia Around J6
Key Meaning Key Meaning
Moment of Inertia around J6
A Center of gravity of ①
C Center of gravity of ③
B Center of gravity of ②
D Rotation around J6
l
Moment of inertia around J6 of ① : I
1
(from 3 and 5 in previous table)
l
Moment of inertia around J6 of ② : I
2
(from 1 and 5 in previous table)
l
Moment of inertia around J6 of ③ : I
3
(from 1 and 5 in previous table)
l
Moment of inertia around J6 of entire end-effector: I
J6