Point-mass CG approximation
Payload inertia
Inputs
User-entered end-of-arm-tool mass.
User-entered handled product mass.
User-entered center-of-gravity distance from the analyzed robot axis/flange.
Results
Declared total payload mass
7
Payload mass × CG distance
1.05
kg·mPoint-mass payload inertia
0.1575
kg·m²mpayload = me + mp; first moment = mpayload r; Ipoint = mpayload r²
A first-pass number, not a code check, certification, or approval. Read the method and its limits below. What this is and is not.
Nearby: Axial response · Beam deflection & reactions · Elastic stability · Solid-shaft torsion
Method
Formula, when it applies, and when it does not
Calculate EOAT plus product payload and a point-mass inertia approximation from flange-to-CG distance.
mpayload = me + mp; first moment = mpayload r; Ipoint = mpayload r²
When
- Masses declared
- Single CG distance
- Point-mass inertia
- One analyzed axis
Don’t
- This is a one-axis point-mass approximation using a single declared flange-to-CG distance. It does not calculate a full inertia tensor, model EOAT/product geometry, determine robot payload or axis limits, evaluate reach, motion, collision, capacity, safety, certification, or robot selection.