To drive each reducer

To drive each reducer with a double rack and pinion, the output torque is T minus = T combined / 1.5 = 311/1.5 N·m = 207 N·m. The load is converted to the motor end acceleration torque T negative = T combined/[(i×η1)×1.5]=311/[(20×0.85)×1.5]=12.2N·m. 

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