Run Xu, Boyong Hur
The effective factor has the turn of M1>M3>M2 in robotic arm. It has too turn 0.5m/s, 5º/s> 0.3m/s, 8º/s> 0.1m/s, 11º/s within conditions. That says that the speed is larger than angular speed about its effect to torque. The biggest torque happens at 5 º/s and 0.5m/s in first robot arm which is 500Nm. The least one is at 11 º/s and 0.1m/s in the third robot one which attains 80Nm. The turn of effective torque is small angular speed and hammer speed.
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