Journal of Robotics / 2021 / Article / Tab 3

Research Article

Reconfigurable Articulated Robot Using Android Mobile Device

Table 3

Torque calculations based on different weights.

ItemLoad (kg)Length (cm)Torque (kg-cm)

Length 10.311.533.84
Torque at joint 133.84
Motor 2 + length 20.0692516.92
Motor 3 + length 30.0693020.3
Gripper + length 40.0703423.34
Total torque at joint 294