What should be the required operating voltage for Servo motors in my 5 DOF robotic arm, with 50 kg payload

These are the estimated torque values of all axis in our applications
1st Axis- 226.57 oz-in – 478oz-in
2nd Axis- 756 oz-in -1590oz-in
3rd Axis- 356 oz-in – 749.7 oz-in
4th Axis- 188 oz-in – 395 oz-inch
5th Axis-17.7oz-in – 37.2 oz-inches
Robot arm has to lift payload of 50 kg, I want to source servo motors , for selection I am confused what operating voltage for servo motors would be suitable,DC or Ac and how much in Dc