@lewm , you need to add motor torque to that list.
I think as everything in life there has be a balance and it depends on what type of drive is being used along with it's performance. The best direct drive motors do not require as much mass as the best belt drives.
Mass does not protect you from rumble. It might lower the frequency a little but you are also adding more thrust to the bearing, increasing noise and wear.
How much mass is required? Whatever it takes to get the best performance and no more.
I think as everything in life there has be a balance and it depends on what type of drive is being used along with it's performance. The best direct drive motors do not require as much mass as the best belt drives.
Mass does not protect you from rumble. It might lower the frequency a little but you are also adding more thrust to the bearing, increasing noise and wear.
How much mass is required? Whatever it takes to get the best performance and no more.