User`s guide

Chapter 3 - Robot Installation
36 AdeptViper s650/s850 Robot User’s Guide, Rev A
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: 0.295 kgm
2
Maximum allowable moment of inertia around J6: 0.045 kgm
2
When calculating the moment of inertia around J4, J5, and J6 of the end-effector, use the
formulas given in Table 3-3, and see examples in Figure 3-7 on page 37.
Table 3-3. Moment of Inertia Formulas
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
:
3. Rectangular parallelepiped
(The axis of rotation passes through the center of gravity.)
l: Moment of inertia kgm
2

m: Mass kg
r: Radius m
b, c, : Length m
Inertia moment around center of gravity