Summary of Motor Selection:
| Axis | Selected Motor | Selected Gearbox & Reduction | Selected Pulleys & Reduction | Total Reduction | Max Current | Max Torque | Total Cost | Notes and Specs sheet | |||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 1 | 775Pro | Versa Planetary
= 100:1 reduction |
| 327:1 | 14A | 24.5Nm | $194 (motor, gearboxes, pulleys, belts) → tentative | ||||||
| 2 | BAG Motor | Versa Planetary
= 300:1 Reduction | = 3.27:1 reduction | 981:1, ~ 840:1 after efficiency | ~ 30 A at max torque | ~200 Nm (a bit less) | $250 (motor, gearboxes, pulleys, belts) | Price also includes 2 hex flanged bearings (one for A2, one for A3 motor on L2) | |||||
| 3 | BAG Motor | Versa Planetary
=189:1 Reduction | = 3.27:1 reduction | 618:1 | ~30 A at max torque | 129 Nm | $256 (motor, gearboxes, pulleys, belts) | ||||||
| 4 | 775 Pro | Versa Planetary
=100:1 reduction |
= 2.18:1 reduction | 981:1, ~ 840218:1 after efficiency | ~ 30 A at max torque | ~200 Nm (a bit less) | $250~30A | 35N | $194 (motor, gearboxes, pulleys, belts) Price also includes 2 hex flanged bearings (one for A2, one for A3 motor on L2) | 3 | 4 | ||
| 5 | 775pro | VersaPlanetary
= 70:1 reduction | = 3.27:1 reduction | 229:1 | 26 A at max torque | 30 Nm | $194 (motor, gearboxes, pulleys, belts) | ||||||
| 6 | 775pro | VersaPlanetary
= 45:1 reduction | = 3.27:1 reduction | 147:1 | 24 A at max torque | 18 Nm | $190 (motor, gearboxes, pulleys, belts) | ||||||
| EE | Polulu 4753 | Integrated 50:1 gear-head | 5.5 A | 2.06 Nm | N/A | This is Calebs motor, it will be borrowed during prototyping |
...
| Motor | Shaft Torque (Nm) at 30A | Torque after Belt Reduction (Nm) | Planetary Reduction needed | Efficiency at 30A | Assumed Gearbox efficiency % | Motor Cost ($) | |||
|---|---|---|---|---|---|---|---|---|---|
| CIM | 0.50673 | 1.75328 | 5.276 | 62.788 | 85.7 | 45 | |||
| Mini CIM | 0.43679 | 1.5112934 | 6.121 | 51.587 | 85.7 | 39 | |||
| 775pro | 0.15576 | 0.5389296 | 17.166 | 66.34 | 85.7 | 26 | |||
| BAG | 0.23705 | 0.820193 | 11.279 | 41.234 | 85.7 | 39 |
...
| Motor | Shaft Torque (Nm) | Torque after Belt Reduction (Nm) | Planetary Reduction needed (accounting for efficiency) | Stages | Motor Weight (lbs) | Total Weight (kg) | Motor Length (mm) | Total Length (mm) | Motor Cost ($) |
|---|---|---|---|---|---|---|---|---|---|
| CIM | 0.70 | 2.29 | 50.8 | 9x7 = 63 | 2.8 | 1.61 | 115 | 175 | 45 |
| Mini CIM | 0.60 | 1.96 | 59.4 | 9x7 = 63 | 2.16 | 1.32 | 86 | 146 | 39 |
| 775pro | 0.21 | 0.69 | 177.5 | 9x5x4 = 180 | 0.8 | 0.79 | 88 | 161 | 26 |
| BAG | 0.32 25 | 10.048117 | 131.825 | 9x5x3 9x7x3 = 135189 | 0.71 | 0.75 | 71 | 144 | 39 |
BAG Motor seems to be the best choice considering length, weight and motor cost.
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