Epson GX Series Manual page 333

Industrial Robot: SCARA Robots GX series Manual
The moment of inertia of the entire load is calculated by the sum of (A), (B), and (C).
Symbol Description
a Rotation axis
b Shaft
A Hand
B Workpiece
C Workpiece
The methods for calculating the moment of inertia for (A), (B), and (C) are shown below. Use the moment of inertia of these
basic shapes as a reference to find the moment of inertia of the entire load.
(A) Moment of inertia of a rectangular parallelepiped
Symbol
a Rotation axis
b Center of gravity of rectangular parallelepiped
(B) Moment of inertia of a cylinder
Symbol Description
a Center of gravity of cylinder
b Rotation axis
Description
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