User`s guide

Designing End-Effectors
AdeptViper s650/s850 Robot User’s Guide, Rev A 37
Figure 3-7. Moment of Inertia Calculation Examples
Calculation example : When calculating the moment of inertia of a complicated shape, divide it into
simple parts as much as possible for easier calculations.
As shown in the figure below, divide the end-effector into three parts (Q, R, S).
(1) Moment of inertia around J6
Unit: mm
Robot flange
center
Q
R
S
φ
20
φ
40
φ
40
Moment of inertia around J6 of Q: I
1
(from 3 and 5 in Table 2-3)
Moment of inertia around J6 of R: I
2
(from 1 and 5 in Table 2-3)
Moment of inertia around J6 of S: I
3
(from 1 and 5 in Table 2-3)
Moment of inertia around J6 of entire end-effector: I
J6
(2) Moment of inertia around J4 and J5 For the end-effector shown below, the moment of
inertia around J4 and J5 can be calculated according
to the same formula.
80
80
((0.08 + 0.005)
2
+0.01)
1.03 × 10
-3
[kgm
2
]
1.39 × 10
-3
[kgm
2
]
2.30 × 10
-3
[kgm
2
]
2.54×10
-2
[kgm
2
]
((0.08 + 0.01 + 0.02)
2
+0.04
2
)
((0.08 + 0.01 + 0.05)
2
+0.05
2
)
Moment of inertia around J4 and J5 of Q: I
1
(from 3 and 5 in Table 2-3)
Moment of inertia around J4 and J5 of R: I
2
(from 2 and 5 in Table 2-3)
Moment of inertia around J4 and J5 of S: I
3
(from 2 and 5 in Table 2-3)
Moment of inertia around J4 and J5 of entire end-effector: I
J4
, I
J5
Center o
f
gravity of Q
Center o
f
gravity of S
Center o
f
gravity of R
Around J6
Around J6