i am going deeper and deeper.
I can't decide if I calculated correctly then
I calculated the robot inertia around palett center of gravity.
It doesn't matter there i am using the "Taken at the center of mass and aligned with the output coordinate system" OR just "Taken at the output coordinate system", if my coordinate system located in the palett center of gravity.(calculate here the 3 inertia for xx,yy,zz)
The palett length(b) 1,1m, width(a) 0,8 m, Mass(M): 29,92kg
These values are:
JPalett.xx=(M/12) * a2= (29,92/12)*0,82 = 1,5957 kg*m2
JPalett.yy=(M/12) * b2= (29,92/12)*1,12 = 3,0169 kg*m2
JPalett.zz=(M*(a2+b2))/12=4,6127 kg*m2 -> Same as in SW, other axis little difference, but it's OK
For the empty gripper if i use "Taken at the output coordinate system."!!:
Coordinate system located at $NULLFRAME (tool0) coordinate.
JTool.xx= 1,8581 kg*m2
JTool.yy= 3,4674 kg*m2
JTool.zz= 4,5718 kg*m2
Steiner equation for "shifting": I = ICM + M * r2
For palett inertia around $NULLFRAME (tool0) coordinate:
For this we need distances from palett center of gravity coordinates to $nullframe coordinates:
rx = 0,18m
ry = ((0,27533)2 + (0,18)2 )1/2= 0,3289m
rz = 0,27533m
And now steiner:
JpalettMod.XX = Jpalett.XX + 29,92 * rx2 = 2,5651 kg*m2
JpalettMod.YY = Jpalett.YY + 29,92 * ry2 = 6,2535 kg*m2
JpalettMod.ZZ = Jpalett.ZZ + 29,92 * rz2 = 6,8808 kg*m2
Summarize: JTool.ab + JpalettMod.ab
TAKEN AT THE OUTPUT COORDINATE SYSTEM! ( $NULLFRAME) matches robotflange:
JTOTAL.XX = JTool.XX + JpalettMod.XX = 1,8581 + 2,5651 = 4,4232 kg*m2
JTOTAL.YY = JTool.YY + JpalettMod.YY = 3,4674 + 6,2535 = 9,7209 kg*m2
JTOTAL.ZZ = JTool.ZZ + JpalettMod.ZZ = 4,5718 +6,8808 = 11,4526 kg*m2
As we see we got back(with a small difference) what solidworks offers us in terms of "Taken at the output coordinate system."
So since solidworks backs up the calculation for us it should be good right?