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Chapter 5 - End of Arm Tooling
56 AdeptSix 300CR Robot Instruction Handbook, Rev. A
The following figures show examples of the moment of inertia for a hexahedron and
cylinder.
Figure 5-6. Moment of Inertia for Hexahedron and Cylinder
3 r
2
+ H
2
Ix = Iy = * W
12
r
2
Iz = * W
2
Ly
2
+ Lz
2
Ix = * W
12
Lx
2
+ Lz
2
Iy = * W
12
Lx
2
+ Ly
2
Iz = * W
12
* Unit of Length: [m]
* Unit of Ix, Iy, Iz: [kg.m
2
]
* Unit of Weight: [kg]
X
Y
Z
Iy
Iz
Ix
Ly
Lx
Weight: W
Lz
H
X
Z
Iz
Ix
r
Weight: W
Iy
Y