Calculating the Moment of Inertia

Refer to the following examples of formulas to calculate the moment of inertia of load (end effector with workpiece).

The moment of inertia of the entire load is calculated by the sum of each part (a), (b), and (c).

Symbol	Description
a	Rotation center
b	Shaft
A	End effector
B	Workpiece
C	Workpiece

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

Symbol	Description
a	Rotation center
c	Rectangular parallelepiped’s center of gravity

(b) Moment of inertia of a cylinder

Symbol	Description
a	Cylinder’s center of gravity
b	Rotation center

(C) Moment of inertia of a sphere

Symbol	Description
a	Rotation center
b	Sphere’s center of gravity