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| title | Summary Table - Option A |
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Approximate Actual Team Cost (applied a preemptive 25% discount on maxon gearheads as motor was discounted by 25%): 3500 CAD URC Cost (just assumed actual harmonic gearbox cost was 1800 CAD, need to confirm true cost with electromate): 4520 CAD | Axis | Mass | Backlash | Backdriveable | Motor Cost | Gearbox Cost | Total Cost | Motor Operating Range at No Load | Motor Operating Range at Max Load | Integration Feasibility |
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| 1 | 1.51kg | 0.3º | Yes | $173 | $251 | $424 | Within Continuous Operation Range of Motor | Within Continuous Operation Range of Motor | High | | 2 |
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| No | $170 | $437 + | $607 |
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| | 3 | 0.83kg | 0 | Yes | $170 | $1345 CAD |
| Within Continuous Operation Range of Motor (for shortened link length arm) | Within Short Term Operation Range of Motor, likely can be operated for ~ half of thermal winding time constant | High | | 4/5/6 | 0.61kg | 1º | Yes | $170 ea. | $465 ea. | $635 ea. | Within continuous operation range of motor | Within continuous operation range of motor | High |
Note: Integration is high for maxon motor/gearhead or the nanotech motor/gearhead as these components are configurable combinations on supplier website. Additionally, according to actuator sponsor the selected maxon motor and harmonic gear for A3 easily mate to eachother. |
Decision Matrix - Excel Sheet
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| name | Arm Actuator Options Master Spreadsheet v3.xlsx |
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| height | 250 |
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