How Do You Calculate Torque for a Climbing Robot?

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Dear all,

I would like to calculate the torque required for my application
my robot is suppose to climb up on a glass panel
the vacuum pad i am using is silicone, it has two rubber wheel to climb.
the weight of the robot is 2kg.

May i know how to calculate torque required for the servo selection?

thanks

 

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the vacuum pressure is about 8"Hg

 

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What is the servo hooked up to?

 

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What is the servo hooked up to?

to a positive 6v supply.

 

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what about the output?