I realize that the center of gravity affects the robot arm payload ,the far the payload is from the robot flange the harder it is to lift it,but how does the moment of inertia affect also the payload of the robot?
The inertia is going to increase with the acceleration of the arm and payload you are lifting. the greater the acceleration (the faster you want to move the arm and object) the greater the inertia and the greater the load.
Hy Mr. Omar, i Agree with Mr. Mark but if you use counterweight-Slide on the first axis for Lift-Action (Z-axis / up and down) the inertia (Acceleration-"virtual"-overweight) can be reduced to a factor 0 (zero) an be ignored. What in that case you muste consider ist the overweight an his acceleration in the rotation movement. thumbs up 4 ur project, sincerely Otmar M.