<p style="margin-left:48px; text-align:justify">&nbsp;</p>

<p style="text-align:justify"><img alt="" src="https://edupmquestionhelp.s3.ap-south-1.amazonaws.com/hint/uploads/images/16300644151630064415.jpeg" style="height:703px; width:656px" /></p>

<p style="text-align:justify"><span style="font-size:14px"><span style="color:#000000">In its most b</span></span><span style="font-size:14px"><span style="color:#000000">asic form, the torque for a link (in the case of a robot) is calculated as a product of (mass x gravity x distance between the load and joint) i.e m*g*l. This basic case is only for horizontal systems which is seldom a case in industrial robots.</span></span></p>

<ul>
	<li style="list-style-type:disc; text-align:justify"><span style="font-size:14px"><span style="color:#000000">Therefore, to calculate the torque based on the payload and link weight of the robot, the motor torque of each joint is considered. To do this, the total torque is divided into two parts, (1) holding torque and (2) torque required for motion.&nbsp;</span></span></li>
	<li style="list-style-type:disc; text-align:justify"><span style="font-size:14px"><span style="color:#000000">The holding torque comes out to be individual terms of product of mass*distance from actuator (joint) being added to give the total torque. This is applicable for multiple actuators as well.</span></span></li>
</ul>

<p>&nbsp;</p>

<p>&nbsp;</p>

<p>&nbsp;</p>