Chapter 2 - Robot Installation Moment of Inertia Around J4, J5 and J6 Design an end-effector so that its moments of inertia around J4, J5, and J6 (including workpiece) do not exceed the maximum allowable moment of inertia of the robot. Moment of inertia around J4, J5, and J6 of end-effector (including mass of workpiece) must be less than or equal to the maximum allowable moment of inertia Maximum allowable moment of inertia around J4 and J5: 0.36 kgm 2 Maximum allowable moment of inertia around J6: 0.064 kgm 2 When calculating the moment of inertia around J4, J5, and J6 of the end-effector, use the formulas given in Table 2-5 , and see examples in Figure 2-7 on page 31 . Table 2-5.
Moment of Inertia Formulas 30 Adept Viper s1300 Robot User’s Guide, Rev B 1. Cylinder (1) (Axis of rotation = Center axis) 4. Sphere (Axis of rotation = Center axis) 2. Cylinder (2) (The axis of rotation passes through the center of gravity.) 5. Center of gravity not on the axis of rotation : Inertia moment around center of gravity 3. Rectangular parallelepiped (The axis of rotation passes through the center of gravity.) l: Moment of inertia ❲kgm2❳ m: Mass ❲kg❳ r: Radius ❲m❳ b, c, : Length ❲m❳