# Moment of inertia UR3 UR5 UR10
**URL:** https://forum.universal-robots.com/t/moment-of-inertia-ur3-ur5-ur10/1745
**Category:** Technical Questions
**Tags:** mechanical, kinematics
**Created:** [March 13, 2018, 9:47pm UTC](https://forum.universal-robots.com/t/moment-of-inertia-ur3-ur5-ur10/1745 "2018-03-13T21:47:00Z")
**Posts on this page:** 4
**Page:** 1
### Author:  [@anon62140534](https://forum.universal-robots.com/u/anon62140534)
#### Post date: [March 13, 2018, 9:47pm UTC](https://forum.universal-robots.com/t/moment-of-inertia-ur3-ur5-ur10/1745/1 "2018-03-13T21:47:00Z")
I am building a robot mobility platform and I need to understand the maximum moment of inertia for all three robots. I thought I would ask here first and if the information is unavailable, then I will calculate and hope that my calculations are correct.
Thanks,
Jerry Stokely
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### Author:  [@mmi](https://forum.universal-robots.com/u/mmi)
#### Post date: [March 20, 2018, 8:55am UTC](https://forum.universal-robots.com/t/moment-of-inertia-ur3-ur5-ur10/1745/2 "2018-03-20T08:55:16Z")
These values are stored on each robot in `.urcontrol/urcontrol.conf` file. Look for `[Link]` section. Link lengths are defined as a part of `[DH]` parameters.
It slightly varies over robot generations, so you should download values for robot that you actually use.
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### Author:  [@anon62140534](https://forum.universal-robots.com/u/anon62140534)
#### Post date: [March 23, 2018, 2:09pm UTC](https://forum.universal-robots.com/t/moment-of-inertia-ur3-ur5-ur10/1745/3 "2018-03-23T14:09:53Z")
MMI,
Thanks for the information, it was helpful
Jerry Stokely
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### Author:  [@system](https://forum.universal-robots.com/u/system)
#### Post date: [January 26, 2021, 9:08pm UTC](https://forum.universal-robots.com/t/moment-of-inertia-ur3-ur5-ur10/1745/4 "2021-01-26T21:08:37Z")
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