Summary of Max Torque Findings (Rounded Up)

• A1: 16 Nm
• A2: 200 Nm
• A3: 105 Nm
• A4: 30 Nm
• A5: 30 Nm
• A6: 18 Nm

Safety factor of x1, since calcs were based on a 10kg moving load.

Note: max torque with CIM motors and the highest safe gearbox of 1:50 gives a max load torque @ stall of 120 Nm

Please refer to the parent page for more information

Assumptions

Each planetary set is 97% efficient

A1

Motor: Mini CIM Motor

Gearbox: 1:50 (1:10 first stage, 1:5 second stage) 1/2" shaft w/ 1/8" key

Specs with gearbox:

• Stall Torque: 120.5 Nm
• Torque @ peak power: 60.25 Nm
• Speed @ peak power: 58.4 RPM, 0.97 RPS
• Current @ peak power: 44.5 A