Chapter 5 - End of Arm Tooling
54 AdeptSix 300CR Robot Instruction Handbook, Rev. A
Figure 5-4. Moment of Inertia
5.4 Calculating the Moment of Inertia
The following methods can be used to calculate the rough values for the moment of
inertia, based on the center of gravity.
• Approximate the entire tool as a hexahedron or cylinder.
• Calculate the center of gravity position (plural mass) for each part weight.
The following examples provide details on the calculation methods.
Example 1
In this example, a sealing gun is utilized. It is assumed that the location of the center of
gravity is slightly offset from the centerline of the head, based on the tool flange
coordinates. See Figure 5-5.
In this case, there seems to be no problem, based on the size and weight of the gun, and
the moment of inertia with respect to the center of gravity.
The size of the tool is not too big.
Setting the inertia moment at the
center or gravity is not necessary.
The size of the tool is sufficiently large
that setting the inertia moment at the
center of gravity is necessary.
