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Setup & Operation 4. End Effectors
(a) Inertia moment of a rectangular parallelepiped
(b) Inertia moment of a cylinder
Cylinder's Center of Gravity
(c) Inertia moment of a sphere
48
Rotation Center
Rectangular Parallelepiped's Center of Gravity
m
L
h
Rotation Center
m
Rotation Center
L
b
r
L
Sphere's Center of Gravity
r
m
b
2
+ h
2
m
+ m × L
2
12
r
2
m
+ m × L
2
2
2
m
r
+ m × L
2
2
5
C12 Rev.3
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