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I need a little help here. I need to pick a DC motor to be used on a robot. I'm trying to calculate a minimum torque the motor should be able to produce, but I'm a little confused.

torque = Force * distance = Mass * acceleration * distance

(Ignoring moment of inertia created by the motor's load)

Mass will be the total mass of the robot, distance the radius of the wheels to be chosen. But how do I quantify acceleration?? I was thinking maybe determining how fast I want the velocity to "ramp" up to the max value, and use that slope.

Or perhaps there is an easier way to calculate the torques I should be accounting for.

Any ideas?