FHA-C Series - Harmonic Drive LLC

Appendix 2 Moment of inertiaAppendix 2Moment of inertia1.Calculation of mass and moment of inertia(1) Both centerlines of rotation and gravity are the same:The following table includes formulas to calculate mass and moment of inertia.m: mass (kg); Ix, Iy, Iz: moment of inertia for rotation center of x-, y-, z-axis respectively (kg•m2);G: distance from gravity center to the surface; p: specific gravityUnit Length: m; Mass: kg; Inertia: kg•m2Object form Mass, inertia, gravity center Object form Mass, inertia, gravity centerCylinderCircular pipeρR 1 :outer, R 2 :innerSlanted cylinderBallρθθEllipsoidal cylinderConeρRectangular pillarm = ABC ρSquare pipeρHarmonic Drive LLC 800-921-333244