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I'm having some trouble working out the required torque for a motor to lift a robot arm for my university project.

My design is cable driven so all the power has to be transmitted thorugh cables with motors at the base.

please could anyone help me work out how much torque is required to lift the 0.44m arm?

The cable is wrapped 360 degrees around the pulley on the first joint

here's a diagram of the set up:

http://img513.imageshack.us/img513/8416/physicsforumsdiagram.jpg [Broken]

Thanks a lot

My design is cable driven so all the power has to be transmitted thorugh cables with motors at the base.

please could anyone help me work out how much torque is required to lift the 0.44m arm?

The cable is wrapped 360 degrees around the pulley on the first joint

here's a diagram of the set up:

http://img513.imageshack.us/img513/8416/physicsforumsdiagram.jpg [Broken]

Thanks a lot

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