Declared one-axis parallel-axis sum
Wrist & tool inertia
Inputs
Mass of the declared end-of-arm tooling body only.
User-entered EOAT mass moment of inertia about the stated parallel centroidal axis.
Perpendicular distance from the stated flange/wrist axis to the EOAT centre of mass.
Mass of the declared carried part or process payload.
User-entered payload mass moment of inertia about the stated parallel centroidal axis.
Perpendicular distance from the stated flange/wrist axis to the payload centre of mass.
Results
Declared EOAT + payload mass
7
EOAT inertia about stated wrist axis
0.1325
kg·m²Payload inertia about stated wrist axis
0.185
kg·m²Declared total wrist/tool inertia
0.3175
kg·m²Iaxis = Icg + mr²; Itotal = IEOAT,axis + Ipayload,axis
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: Trapezoidal motion · Reflected inertia · Pneumatic cylinder force · Clamp-force transfer
Method
Formula, when it applies, and when it does not
Calculate a one-axis wrist/tool inertia from EOAT and payload mass, centroidal inertia, and independent flange-axis offsets.
Iaxis = Icg + mr²; Itotal = IEOAT,axis + Ipayload,axis
When
- One declared parallel rotation axis
- User-entered centroidal inertias
- User-entered flange-axis offsets
- Rigid lumped EOAT and payload bodies
Don’t
- This is a one-axis, user-entered parallel-axis inertia sum for two rigid declared bodies. It does not construct an inertia tensor, infer geometry, identify a robot axis, calculate motion dynamics, establish payload/reach/duty limits, validate collision, select hardware, establish safety, or approve a robot cell.