Preparing the published article.
Load and Inertia Terms
Weight is easy to understand; inertia is what breaks gearboxes.
Terms
| Term | Meaning |
|---|---|
| Mass | The weight of the tool and part |
| Centre of mass | Where that weight effectively acts |
| Moment of inertia | Resistance to changes in rotational speed |
| Static load | Force when the arm is still |
| Dynamic load | Force during acceleration and braking |
Practical implications
- The same mass further from the flange loads the axes far more.
- Fast moves with a large inertia demand more torque and generate more heat.
- Long parts such as profiles are the classic inertia problem.
Load and inertia limits appear as curves in the robot manual. Check the duty point, not just the number.