For people who are real gluttons for punishment, here is all you would care to know about Atmospheric Escape Mechanics.
The article discusses many different mechanisms of gas losses. The easiest to model is the Thermal Escape mechanism (described in detail below). However, two other processes may contribute substantially to atmosphere loss in the absence of a magnetic field; Pickup and electric field acceleration.
I've found no mathematical treatment of these last two but will describe them.
Pick-up
Pick-up is the process whereby hydrogen ions from the solar wind directly impinge upon the gas molecules of the atmosphere of planets with no or weak magnetic fields. When the ions impact molecules or atoms in the atmosphere, they impart momentum allowing them to escape. This is the dominant non-thermal loss mechanism for Mars' atmosphere and bodies with thin atmospheres.
Electric Field Acceleration
The dominant loss process for Venus' atmosphere is through electric
force field acceleration. As electrons are less massive than other
particles, they are more likely to escape from the top of Venus's
ionosphere.[3] As a result, a minor net positive charge develops. That
net positive charge, in turn, creates an electric field that can
accelerate other positive charges out of the atmosphere. As a result,
H+ ions are accelerated beyond escape velocity.
from the wikipedia article on Atmospheric Loss Mechanisms
This loss mechanism is the dominant non-thermal loss mechanism on bodies with thick atmospheres.
Thermal escape
In most cases, thermal escape is the dominant atmospheric loss mechanism.
As @HDE226868 posted, calculate surface temperature of the planet using solar luminosity, albedo, and distance from the sun. Then calculate the Vrms of the gases. Then compare to the body's escape velocity.
| Meas Calc
----------------------
Tmercury | 700 K 438 K
Tvenus | 735 K 185 K
Tearth | 313 K 254 K
Tmoon | 390 K 268 K
Tmars | 293 K 210 K
Tio | 130 K 95 K
Teuropa | 125 K 92 K
Tcallisto| 165 K 115 K
Ttitan | 93 K 85 K
Ttriton | 38 K 35 K
Tpluto | 55 K 36 K
NOTE1: the problem with this is it calculates the average surface temperature, whereas thermal escape mechanics rely most heavily on the highest / day side temperature. The shown measured temps are the "high temperatures".
NOTE2: I've got the albedo of these bodies but they tend to make the temperatures diverge further from the measured values than using HDE's approximation of 0.3 for an average albedo.
I use a ratio of 300 as the cut-off for gases. Values above this number indicate the planet can retain the gas for billions of years.
Next calculate the escape velocity of the body. These are the values that I get:
Escape
Body Velocity
Mercury = 4,250 m/s
Venus = 10,361 m/s
Earth = 11,178 m/s
Moon = 2,375 m/s
Mars = 5,021 m/s
Io = 2,560 m/s
Europa = 2,035 m/s
Callisto = 2,444 m/s
Titan = 2,641 m/s
Triton = 1,456 m/s
Pluto = 1,246 m/s
The formula to find lightest weight gas the planet can hold onto is as follows:
Vesc must be larger than some calculated multiple of Vrms (I based the form of this calculated multiple off the half-life formula)
$$ ln\left (1 \times 10^{9} \div 9 \right )^2 = \frac{Vesc}{Vrms} $$
$$ ln\left (1 \times 10^{9} \div 9 \right ) = \left ( \frac{2GM \times m}{r \times 3RT} \right ) $$
$$ \large m = \frac{ln\left (1 \times 10^{9} \div 9 \right ) 3RTr}{2GM} $$
The 1e9 value is the number of years you want the gas to stick around, this represents 1 billion years. I believe the natural log portion of the equation to be my own empirical fit to the problem.
$ \large m $ - Molar mass of compound
$ R $ - Universal gas constant $ 8.3144621 \frac{J}{mol K} $
$ T $ - Temperature (K)
$ r $ - Planet's radius in meters (my statements above are wrong, it does play a factor)
$ G $ - Gravitational constant $ (6.67 \times 10^{-11} {N} \left (\frac{m}{kg} \right ) ^2 ) $
$ M $ - Planet's mass in kg
The gases each body can retain over geologic periods are:
Molar
Body Mass Gases
Mercury = 114 ~ Br2 + I2 only; all other gases escape; No ices
Venus = 20 ~ N2 and heavier
Earth = 9 ~ CH4 and heavier
Moon = 203 ~ I2 only; all other gases escape; No ices
Mars = 36 ~ F2 and heavier
Io = 58 ~ Kr + Cl2 only; all other gases escape; Ices of NH3, H2O, CO2, Br2, etc.
Europa = 89 ~ Kr + Cl2 only; all other gases escape; Ices of NH3, H2O, CO2, Br2, etc.
Callisto = 81 ~ Kr + Cl2 only; all other gases escape; Ices of NH3, H2O, CO2, Br2, etc.
Titan = 39 ~ N2 and heavier; Ices of CH4, NH3, H2O, CO2, O2, etc.
Triton = 53 ~ None; all gases escape; Ices of NH3, H2O, CO2, N2, O2, etc.
Pluto = 104 ~ None; all gases escape; Ices of NH3, H2O, CO2, N2, O2, etc.
Another twist to this is the fact that various molecules achieve much longer longevity when it is colder than their "snow line". Our solar system's snow line for water (the point at which it remains solid and doesn't evaporate/sublimate) occurs at the distance of our asteroid belt. Beyond this distance, solar system bodies can retain their ices.
Hypothetical Planets
It's been a long road but I think I finally have my answer. A simple swap between $ \large m $ and $ M $ generates the equation which determines what mass is required to retain a given gas if you use the assumptions below. First the equation:
$$ M = \frac{ln\left (1 \times 10^{9} \div 9 \right ) 3RTr}{2G \large m} $$
Now the assumptions
1. Replacement planets use the same density as Earth.
2. Replacement planets use the same albedo as Earth.
3. Planets need a Vesc/Vrms ratio of 400 to hold onto a gas for 4.5
billion years.
4. Planets need to retain gaseous water to maintain human habitability.
5. The daytime "hot" temp is 1.15x the temperature average.
6. Planets have a strong magnetic field so only thermal loss is
important.
Which simplifies the equation to:
$$ M = \frac{1,200 \times 8.3144621 \frac{J}{mol K}Tr}{36 \times (6.67 \times 10^{-11} {N} \left (\frac{m}{kg} \right ) ^2)} $$
Then what I find is:
Orbit of Min Mass Vesc Surface G
Venus 0.55e 9,159 0.82
Earth 0.43e 8,437 0.75
Mars 0.32e 7,647 0.68
Remember the mass is the important thing, so the planet could possess a much lower density and, therefore, a much lower surface gravity should the world builder so desire.
Interestingly, if Mars were just about 3x its current mass, it might have held onto a substantial atmosphere and been a pleasant place to live.
Magnetic fields protect against the solar wind.
– Jim2B Apr 02 '15 at 17:53