Epson E2C Series Manipulator Manual page 62

Setup & Operation 4. Setting of End Effectors
Calculating the Moment of Inertia
Refer to the following examples of formulas to calculate the moment of inertia of load
(end effector with work piece).
The moment of inertia of the entire load is calculated by the sum of each part (a), (b), and
(c).
The methods for calculating the moment of inertia for (a), (b), and (c) are shown on this
page or the next page. Find the whole moment of inertia using the basic formulas on the
next page.
50
Work piece (b)
Whole moment Moment of inertia
=
of inertia of end effector (a)
Rotation center
Joint #3 shaft
End effector (a)
Moment of inertia
+
of work piece (b)
Work piece (c)
Moment of inertia
+
of work piece (c)
E2C Rev.6