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How to measure torque, when applying force on a leaver arm?

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Hello,

May be it seem very easy task to do but beginner like me in Creo 2.0 need your help.
Please if anyone knows how I can measure torque, when apply force on leaver arm.

I am sure there will be a very straight forward way to do it so please help me.

Actually I want to simulate for a 4 links robotic arm with 4 rotational joints and I want to know if robotic arm lift 2 kg load from robotic arm end-effector then how much torque I need to has for my joint actuators. Will Static and dynamic analysis help me?

Please answer me or refer me to any document or tutorial.

Looking forward for your help


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