Select stepping motor

I need two stepping motors.

manipulator's weight is 3kg.( all of 3d parts is less than 1kg. i guess 5 stepper motors are 2kg

and sometimes there is external force 1kg.

  1. manipulator's Z axis rev.

one motor directly connects table. its D is 60mm. ( i guess it need timing pulley for work.)

And on the table, a manipulators put on the center.

I will use 4 nema17 motor with 2 cnc shield and 4 photo interrupter.

board : arduino mega
power : 12V *29A ( 350w) (I bought more big one. ㅠ^ㅠ)

work-time : 10-15sec
accel-time : 1sec ( decel-time : 1sec)
i will make it works slow, because other motors work by wire ( each joint ( elbow, wrist) has closed wire loop.)
they change loops' length to revolving joint

So, i will adjust running time to them.

I think,
Torque is 4x9.8x6 N-cm= 60 N-cm = 0.6N-m.

Nema 23 (height 113mm) (3.6N-m)(only think torque) is suitable in this condition?

  1. manipulator's y axis rev.

it works on base. and its weight affects to base-z-axis-motor's choice.(Q1)

it have 20cm length. and take force at the end. 20N(2kgx9.8m/s^2)
it need 0.2x20N-m = 4N-m?
accel-time and work time is same with others
work-time : 10-15sec
accel-time : 1sec ( decel time : 1sec)

Ans lastly, if not weird , it is okay to increase accel-time.

Need more information and a sketch showing how things are connected and what you are trying to achieve .
The weight and motor torque can’t just be compared .
To keep the turntable rotating will require little torque , accelerating it up to speed or slowing it down will require lots ( hence inertia )

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Pictures are exceptionally useful in cases such as this.
It is often possible to spot something you might not be aware of.

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Hi, I some change my word.

Please,May you review it?

I study for replying your comment. If there are some problem, pleas let me know

Thank you a lot ^ㅡ^.

Hi, I some changed my word.

Please, may you review it?

I study for replying your comment.

Thank you a lot ^ㅡ^!!

60Ncm is 0.6 Nm

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