Industrial Robot: SCARA Robots GX series Manual
2.4.3.2.7 Calculating the Moment of Inertia
An example of calculating the moment of inertia of a load (hand holding a workpiece) is shown below.
The moment of inertia of the entire load is calculated by the sum of individual parts (a), (b), and (c).
Symbol
Description
a
Hand
b
Workpiece
c
Workpiece
d
Shaft
e
Rotation axis
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
a
m
L
h
Symbol
a
Rotation axis
c
Center of gravity of rectangular parallelepiped
c
b
Description
Rev.7
92