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How to Determine Load inertia in Robot Mechanics

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me2utech

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Pls my final year project is bipedal robot.I have started the construction and analysis.I learnt that the choice of my servo depends on the ratio of load inertia to motor inertia.i know i can get my motor inertia from the specification of the servo motor am using.but i dont know how to get my load inertia.Please i will be glad if you can help me with this.Thanks
 

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