# Robot payload screening
# Scope: Static horizontal arm payload from available joint torque, including link self-weight.
# Status: illustrative worked example; engineering review pending.
# Inputs are example values. Checks are editable example requirements, not standards.

torque = 10 N*m
reach = 0.3 m
linkMass = 1 kg
gravity = 9.81 m/s^2

payload := (torque-linkMass*gravity*reach/2)/(gravity*reach) [kg]

check positive payload capacity: payload >= 1 kg

scenario alternative: torque = 8 N*m