a) A conveyor; shown in Fig. 2; is used to transfer bags 15 kg in a production line. The conveyor main roller is connected to main servomotor through a gear box with the following specifications: Roller diameter=300mm,p=7800 kg/m ,Roller length=1000mm, gear box reduction ratio=50:1, orientation=20 to the horizontal plane, conveyor belt weight=10 kg, working temperature=35C, maximum number of bags on conveyor at the same time=10 bags. The motion profile: Type: 1/10 - 4/5 - 1/10 -Trapezoid, distance =500mm, move time=30s, dwell time=3s. Determine the peak and root mean square torque of the servo motor. Assume the ratio between the inertia of the motor and the system is 1:1 N:1 Motor Gear Reducer Load Side 9.9.4.T Figure 2