Calculate payload for a 2dof robot

Hello Guys,

I'm searching a solution for a robot that can handle almost 2kg. I think that step motor might be the best option and maybe the transmittion with belts would be better to carry this load. The structure I'm building is like the picture attached.

Can you guys help me how I can calculate the max load that the arm can handle based on a generic motor?

The arm lenght will be between 250 - 300 mm

handle Load of 2kg

You might want to google "torque" and how it is calculated so you can compare the requirements compared to the motor you want to use. You will probably need 50% more torque than you calculate.