moment of inertia in matlab
I am not an expert, and I don't even know if your problem can be reduced to my example, but here's my two cents:
Apply the parallel axis theorem:
The moment of inertia about any axis equals the moment of inertia relative to the parallel axis through the center of mass, plus the mass of the body times the square of the perpendicular distance between the axes.
Let's assume the links are as in the figure and we want to calculate the total moment of inertia with respect to an axis perpendicular to the paper, going through point A. I do not know what a1 and a2 are and I am going to assume that l1 and l2 are the link lengths, from bearing to bearing (points A, B, C).
For the first link, the moment of inertia is then:
Ilink1A=Il1+ml1*(l1/2)^2=10+20*0.25^2=11.25kg*m2
For the second link, the maximum moment of inertia occurs when the arm is straight (again with respect to the axis through A, perpendicular to the paper)
Ilink2A=Il2+ml2*(l1+l2/2)^2=10+20*(0.5+0.25)^2=21.25kg*m2
This is the maximum, with the arm completely extended. For intermediate values, you need to calculate the actual distance from the center of mass of link 2 to point A, as a function of the angle between the two links.
Witt that said, the maximum total moment of inertia relative to axis through point A and perpendicular to the plane of the paper is:
Itotal=Ilink1A+Ilink2A=32.5kg*m2
I hope this helps. Otherwise, perhaps you can post a drawing, since I am not familiar with these notations, I more or less guessed them.
Regards,
VVV