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torque calculation in servo motor

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dinesh401

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i am building a six legged robot(hexapod) in which the leg weight is 200grams, and its length is 42 cm,
According to the servo motor datasheet the motor torque was given as 48.6oz/in
i calculated according to the calculations and i got 12oz/in, can anyone tell me is my calculation is correct or not ?
the datasheet of my servo motor is
https://www.strikemodels.com/wp-content/uploads/VS-2-Servo.pdf


and i want to know what is meant by "OZ/IN" units for torque.
i calculated using n-m, i.e, 1 n-m= 142.08oz-in.

my robot image also has been attached to this
 

I think you probably missed something :

0.2kgf * 42cm = 8.4kgf.cm ≥ 3.5kgf.cm(48.6 oz/in) ---> STALL

Any away, I don't really know if you are using the right length, and the right weight..

I can give a better help on the statical moment calculation if you post here a detailed scheme with dimensions and weight's..

otherwise you can try out this software:

**broken link removed**
 

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