Reflected inertia through a gear reduction
hardnumerical
General
A revolute joint is actuated by an electric motor with rotor inertia , driving the link through an ideal (lossless, rigid) gearbox with reduction ratio (motor turns 100 times per output revolution). The link-side load inertia (link plus payload, about the joint axis) is .
Neglecting gravity and friction, what is the total effective inertia the motor 'feels' at its own shaft (rotor inertia plus the load inertia reflected through the gearbox)?
kg·m^2