Robot Arm Design: Calculating Torque Needed

AI Thread Summary
To calculate the torque needed for a three-jointed robotic arm capable of lifting 40 pounds, the basic formula used is torque = distance times mass, typically measured in foot-pounds. This calculation provides the torque required at full extension of the arm. To determine the torque at half extension, one must consider the lifting angle and apply the sine function to adjust for the angle's effect on torque. Understanding the relationship between the arm's configuration and the torque at various extensions is crucial for accurate design. Proper torque calculations are essential for ensuring the robotic arm can perform its intended functions effectively.
jmay
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I am design a three jointed robotic arm that can lift 40 pounds. A diagram of the arm is attached.
How can I calculate the torque needed at each motor to lift the 40 pounds?
 

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torque = distance times mass = e.g. Foot-Pounds

is that what you need?
 
That's how I've been doing the calculation. This finds the torque at the full extension of the arm. How can I find the torque need at half extension? Would I find the lifting angle and multiply by the sin of the angle?
 

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