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(a) Moment of inertia of a rectangular parallelepiped
(b) Moment of inertia of a cylinder
Cylinder's center of gravity
(c) Moment of inertia of a sphere
E2C Rev.6
Rotation center
Rectangular parallelepiped's center of gravity
Mass (m)
L
h
Rotation center
r
Mass (m)
Rotation center
Mass (m)
L
Setup & Operation 4. Setting of End Effectors
b
L
Sphere's center of gravity
r
2
2
b
+ h
2
+ m × L
m
12
2
r
2
+ m × L
m
2
2
2
2
+ m × L
m
r
5
51
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