Calculating the torque on each motor

Hello, I made a robot arm that is mechanically similar to the uArm, and I would like to know how to calculate the torque required by each motor. My arm is different from the uArm, so giving me a number won’t help. I try to mentally simplify the problem, but I keep running into issues. Some of the physics teachers and mentors told me to ask on a forum, and I’ve been doing that. I basically need a formula that I just plug the weights of the specific pieces. I greatly appreciate any help.

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