Matlab Code:

Tcs=2.93760545; %chuck stall torque

Wcnl=150; %chuck load rotation speed of shaft

Ns=6; %teeth on the sun

Nr=48; %teeth on the ring (extraneous)

Np=19; %teeth on the planetary gears

ge=.92; %gear inefficiencies on transmitted torque

TRrs=Ns/Nr; %transmission ratio between ring and sun

TRrp=Np/Nr; %transmission ratio between ring and planet

Wc=0:1:Wcnl; %chuck speeds, corresponds to Warm1

Tc=Tcs.*(1-Wc/Wcnl);

Wp1=(TRrp^-1+1).*Wc;

Ws1=(TRrs^-1+1).*Wc; %Ws1 corresponds to Warm2

Tp1=(TRrp^-1+1)^-1.*Tc/ge;

Ts1=(TRrs^-1+1)^-1.*Tc/ge; %corresponds to Tarm2

Wp2=(TRrp^-1+1).*Ws1;

Wm=(TRrs^-1+1).*Ws1; %motor rotational speed

Tp2=(TRrp^-1+1)^-1.*Ts1/ge;

Tm=(TRrs^-1+1)^-1.*Ts1/ge; %motor torque

figure

hold on

plot(Wc,Tc)

%plot(Wp1,Tp1)

%plot(Ws1,Ts1)

%plot(Wp2,Tp2)

plot(Wm,Tm)

xlabel('Rotation Speed (rpm)')

ylabel('Torque (N*m)')

legend('Chuck','Motor')

%,'Sun Gear 1','Planetary Gear Set 2','Motor')

Pm=Tm.*Wm./9.5488;

%plot(Wm,Pm)

%xlabel('Motor Rotation Speed (rpm)')

%ylabel('Motor Power (W)')

%plot(Wc,Tc)