Epson G10 Series - Manual (Page 65)

Setup & Operation 4. Setting of End Effectors
G10 / G20 Rev.2 55
The methods for calculating the moment of inertia for (a), (b), and (c) are shown below.
Calculate the total moment of inertia using the basic formulas.
(a) Moment of inertia of a rectangular parallelepiped
h
b
L
Mass (m)
Rectangular parallelepiped’s center of gravity Rotation center
m + m × L 2
b 2 + h 2
12
(b) Moment of inertia of a cylinder
m + m × L 2
r 2
2
Mass (m)
L
r
Cylinder’s center of gravity Rotation center
(c) Moment of inertia of a sphere
m r
2
+ m × L 2
2
5
Sphere’s center of gravity
r
Mass (m)
L
Rotation center