Page Comparison

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 10:1 10:1 = 100:1 reduction	18T x 15mm timing pulley 60T x 18mm VersaPulley = 3.27:1 reduction	327:1	14A	24.5Nm	$194 (motor, gearboxes, pulleys, belts) → tentative
2	BAG Motor	Versa Planetary 10:1 10:1 3:1 = 300:1 Reduction	18T x 15mm timing pulley 60T x 18mm VersaPulley = 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 9:1 79:1 3:1 =189:1 Reduction	18T x 15mm timing pulley 60T x 18mm VersaPulley = 3.27:1 reduction	618794.61:1	~30 A at max torque	129 Nm	$256 (motor, gearboxes, pulleys, belts)
4	BAG Motor	Versa Planetary 10:1 9:1 3:1 =270:1 reduction	N/A	270:1	~30A	50Nm (accounting for efficiency).	$194
5	775pro	VersaPlanetary 7:1 10:1 = 70:1 reduction	18T x 15mm timing pulley 60T x 18mm VersaPulley = 3.27:1 reduction	229:1	26 A at max torque	30 Nm	$194 (motor, gearboxes, pulleys, belts)
6	775pro	VersaPlanetary 5:1 9:1 = 45:1 reduction	18T x 15mm timing pulley 60T x 18mm VersaPulley = 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

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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

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