Chapter 3: Robot Installation
Figure 3-10. Moment of Inertia Around J4 and J5
For the end effector shown above, the moment of inertia around J4 and J5 can be calculated
according to the same formula.
l Moment of inertia around J4 and J5 of ① : I
1
(from 3 and 5 in previous table)
l Moment of inertia around J4 and J5 of ② : I
2
(from 2 and 5 in previous table)
l Moment of inertia around J4 and J5 of ③ : I
3
(from 2 and 5 in previous table)
l Moment of inertia around J4 and J5 of entire end-effector: I
J4
I
J5
05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide 37
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