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C12 Manipulator 4. End Effectors
Calculating the Inertia Moment
Refer to the following example formulas to calculate the inertia moment of the load (end
effector with work piece).
The inertia moment of the entire load is calculated by the sum of (a), (b), and (c).
Rotation Center
End Effector (a)
Work Piece (b)
Work Piece (c)
Whole Moment
Moment of Inertia
Moment of Inertia
Moment of Inertia
=
+
+
of Inertia
of Work Piece (c)
of End Effector (a)
of Work Piece (b)
The methods for calculating the inertia moment for (a), (b), and (c) are shown in this and
the next page. Figure out the whole inertia moment using the basic formulas below.
C series Rev.2
209
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