What is the torque required calculation for each motor


In gantry crane ,there are are two motors one for horizontal motion , i.e. 400kg weight is to be moved 6m with 100m/min.Another motor is to lift 1500 kg weight vertically of 0.6m with speed 20m/min. power is transmitted through rack and pinion. For selecting the servomotor , what is the torque required calculation for each motor with considering the friction?

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Mechanical Engineering: What is the torque required calculation for each motor
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