Yamaha Robotics YK120X Manual Do Utilizador
3-25
CHAPTER 3 Installation
3) Moment of inertia for cylinder (part 2)
The equation for the moment of inertia for a cylinder that has a rotation center
such as shown in Fig. 3-14 is given below.
such as shown in Fig. 3-14 is given below.
h
D
2
h
J=
ρπ D h
16g
W
4g
=
2
... (Eq. 3.3)
D
4
h
3
3
(
2
2
+
)
D
4
h
3
3
(
2
2
+
)
I=
ρπ D h
16
m
4
=
2
D
4
h
3
3
(
2
2
+
)
D
4
h
3
3
(
2
2
+
)
ρ : Density (kg/m
3
, kg/cm
3
)
g : Gravitational acceleration (cm/sec
2
)
m : Mass of cylinder (kg)
W : Weight of cylinder (kgf)
(kgfcmsec
2
)
(kgm
2
)
Fig. 3-14
4) Moment of inertia for prism
The equation for the moment of inertia for a prism that has a rotation center
as shown in Fig. 3-15 is given as follows.
as shown in Fig. 3-15 is given as follows.
J=
ρ abc(a +b )
12g
W(a +b )
12g
=
2
2
... (Eq. 3.4)
a
c
b
1/2a
2
2
I=
ρ abc(a +b )
12
m(a +b )
12
=
2
2
2
2
(kgfcmsec
2
)
(kgm
2
)
ρ : Density (kg/m
3
, kg/cm
3
)
g : Gravitational acceleration (cm/sec
2
)
m : Mass of prism (kg)
W : Weight of prism (kgf)
Fig. 3-15