Chapter 4 Hydraulic Actuators (2)Torques and mechanical efficiencies (a)The theoretic torque pqM=TMmo=TM2πn Or △pqM 2元n (4-4) (b)Startup torque TM-△TMs TMt TMt (4-5) 5 Homepage List Upwards Dowrwards Return ExitChapter 4 Hydraulic Actuators 5 （2）Torques and mechanical efficiencies （a）The theoretic torque Or （b）Startup torque M Mt Mt  = = pq T T n  2π M Mt 2π p q T n  = Ms Mt Ms Ms Mt Mt T T T T T  −  = = (4-4) (4-5)