Reconfigurable Articulated Robot Using Android Mobile Device

Table 3

Torque calculations based on different weights.

Item	Load (kg)	Length (cm)	Torque (kg-cm)
Length 1	0.3	11.5	33.84
Torque at joint 1	—	—	33.84
Motor 2 + length 2	0.069	25	16.92
Motor 3 + length 3	0.069	30	20.3
Gripper + length 4	0.070	34	23.34
Total torque at joint 2	—	—	94