weight, torque and power relationship

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i need help in determining the maximum weight a drone can carry/lift given it\’s Rpm/V; I\’ll be constructing a drone that has a robotic arm that will pickup object/s. For example how much weight can a 250mm drone frame size, 2300KV Brushless Motors and 30A Esc can lift/carry? Is there a Mathematical Formula in answering such questions?

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