Consider a robot arm as given in the following figure z=1-x 1 y y=1-x Calculate the center of mass and the inertia tensor for the robot arm when the mass density i p(x, у, 2) — 1 p(x,y, z) = 0.5 +x Find the principal axis of rotations in both cases

Consider a robot arm as given in the following figure z=1-x 1 y y=1-x Calculate the center of mass and the inertia tensor for the robot arm when the mass density i p(x, у, 2) — 1 p(x,y, z) = 0.5 +x Find the principal axis of rotations in both cases

International Edition---engineering Mechanics: Statics, 4th Edition

4th Edition

ISBN:9781305501607

Author:Andrew Pytel And Jaan Kiusalaas

Publisher:Andrew Pytel And Jaan Kiusalaas

Chapter9: Moments And Products Of Inertia Of Areas

Section: Chapter Questions

Problem 9.40P

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Question

Consider a robot arm as given in the following figure
1
z=1-x
1
y
y=1-x
Calculate the center of mass and the inertia tensor for the robot arm when the mass density is
. Р(х, у, 2) — 1
p(х, у, 2) — 0.5 +x
%3D
Find the principal axis of rotations in both cases

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