XXooptRobotics

Reflected inertia through a gear reduction

hardnumerical

General

A revolute joint is actuated by an electric motor with rotor inertia Im=0.5×104 kg⋅m2I_m = 0.5\times10^{-4}\ \text{kg·m}^2, driving the link through an ideal (lossless, rigid) gearbox with reduction ratio N=100N = 100 (motor turns 100 times per output revolution). The link-side load inertia (link plus payload, about the joint axis) is IL=1.2 kg⋅m2I_L = 1.2\ \text{kg·m}^2.

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