The system is engineered to transport eight diminutive items (refer to Figure 1) and to conduct an examination of each item individually with a camera to assess its quality. Table 1 presents the dynamic characteristics of the system as a whole, and Figure 2 illustrates the motion planning required for the steady rotational disk. Parameter Value Unit Description Im 1*10 kg.m Inertia of the rotor of the servo motor. 0.0002 kg.m Is 0.0008 kg.m M 4 kg mp 0.1 kg 772 0.2 kg 0.5 m r 1 cm To 40 cm IT 0 rad 4 0.2 Smax 0.8 Smax 1 Smax 3 Inertia of the driving pulley of the transmission system. Inertia of the idler (driven) pulley of the transmission system. The mass of the rotating solid disk. Belt mass The mass of each small object. The radius of the rotating solid disk. The radius of the driving pulley. The radius of the idler pulley, The angular position requires to stop the object (m) under the camera. Coefficient of friction between each object and the rotating solid disk. Maximum required velocity of the solid rotating disk Maximum required acceleration of the solid rotating disk Maximum required deceleration of the solid rotating disk Camera rotating solid disk LSS (Driven) HSS (Driver) Figure 1: the rotating solid disk system d. Calculate the system's load torque. (time in sec) Figure 2: the required trajectory for the solid rotating disk (212 profile) e. Calculate and illustrate the system's torque profile. f. Determine the total required torque assuming a safety factor of 2. g. Compute the RMS torque. h. Select a suitable servomotor model based on the system's requirements.