Setup & Operation 4. Setting of End Effectors
74
G10 / G20 Rev.20
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
Summary of Contents for G10 Series
Page 1: ...Rev 20 EM183R3619F SCARA ROBOT G10 G20 series MANIPULATOR MANUAL ...
Page 2: ...MANIPULATOR MANUAL G10 G20 series Rev 20 ...
Page 8: ...vi G10 G20 Rev 20 ...
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Page 102: ...Setup Operation 5 Motion Range 90 G10 G20 Rev 20 ...
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