Torque Analysis

Miniminum torque required to rotate an object is given by the equation:

\[\tau = I \alpha\]

where:

• Rotational inertia:

  • No payload:

    \[I_{default} = I_{\text{segment 1}} + I_{\text{segment 2}} + I_{\text{segment 3}} + I_{\text{hand assembly}}\]

  • With payload:

    \[I = I_{default} + I_{\text{payload}}\]

Torque Calculation:

The minimum required torque to rotate should account for the

• Inertia of the arm including the payload.
• Acceleration of the arm.