Simulations in Creo and Matlab were performed at three different

angular velocities of motors, i.e. 1deg/s, 2deg/s, 3 deg/s.

Input path or trajectory was same in all cases but when angular
velocities all motors increase , the trajectory is moved in shorter time
and simulations takes less time.
All simulations are for 10N force at end effector.
Gear ratio is 1 in all cases as the motors operate at low speeds i.e. at
1deg/s (1.046 RPM), 2 deg/s (2.093 RPM ), 3 deg/s (3.14 RPM). If
velocities of motors is less 1000 RPM, gear ratio is taken as 1 and gear
reducer is not used.
Dynamic analysis in Creo shows that the values of torques almost
remain same for different velocities of motors. But it takes shorter time
to cover the projector.
3 different simulations for different points set were performed in Matlab.
As the velocities of motors increase in Creo, point sets were different for
simulations in Matlab. It takes less time to reach the final position of end
effector when velocities increase. But as the inertia properties and total
angles of rotation remain same, so the values of torques in Matlab are
also almost same in all cases.
Input Trajectory for speed 1deg/s for all motors:
Coordinates of Trajectory:
Torques in Creo:
Torques in matlab:
Input Trajectory for speed 2deg/s for all motors:

Cooordinates of Trajectory:
Torques in Creo:
Torques in matlab:
Input Trajectory for speed 3deg/s for all motors:
Cooordinates of Trajectory:
Torques in Creo:
Torques in matlab: