Epson C12 Series Manipulator Manual page 62

Setup & Operation 4. End Effectors
(a) Inertia moment of a rectangular parallelepiped
(b) Inertia moment of a cylinder
Cylinder's Center of Gravity
(c) Inertia moment of a sphere
48
Rotation Center Rectangular Parallelepiped's Center of Gravity
m
L
h
Rotation Center
m
Rotation Center
L
b
r
L
Sphere's Center of Gravity
r
m
b 2 + h 2
m
+ m × L 2
12
r 2
m
+ m × L 2
2
2
m r + m × L
2 2
5
C12 Rev.3