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
=500:1 reduction | N/A | 500:1 | ~30A | 42N 42Nm (accounting for efficiency). | $194 | |
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 |
...