Torque required to move robot arm (special linkage)

I need to calculate a torque required for uArm type of robot arm. Servos are at the base and 2 arms are controlled by system of linkage.
I suppose all necessary info will be given by CAD, like weight and mass of gravity,etc..
But How would I properly size the servos? Is it the same as in classic arm where each servo is at each joint? Please see provided CAD model in the Onshape Viewer.

Here is the CAD of the arm in question:

https://cad.onshape.com/documents/e...renderMode=0&uiState=655cc9f611f8d44e40ff0e2c

I changed the colours on the example assembly to make it more recognisable. Right servo is connected to the blue arm only. Left servo is connected to the purple arms. The green arm that holds the gripper is not connected to any servo, just to the base.

Thanks!

You will need to ascertain which geometry of the system will produce the maximum load on the operation of a given servo. From there it should be a simple exercise to solve for the moments and torques (as required for a desired acceleration). The other way to proceed involves exact solution of the system, probably using Lagrange multipliers (?) I presume there is software on the shelf that will do this.

Welcome to PF.

You will need to reduce the design to straight line link lengths, between pin positions, and then the angles between the pins. Think of the links as a chain of 2D vectors, stretching from the base to the load, via the pin position points.

You then apply the maximum load to the virtual structure, and follow how that force flows back through the link structure, to become a torque at the servo. Since it is a 2D linkage, I would solve it numerically.

By sweeping the servo angle/length in small steps, through all possible combinations of geometry, you search the range for the maximum servo torque. Look closely near the maximums, to make sure that the torque is bounded, not infinite.

Check that the axial tension or compression in each link is within design bounds, and that the pins and bearing surfaces are sufficient for the loads involved.

can you provide the calculations by assuming the the links lengths and weights?