2021 SAR Build Master Actuator/Encoder Spreadsheet
Motors
| Mechanism | Location | Manufacturer | Manufacturer Part Number | Qty | Voltage [V] | Max Current Draw [A] | Stall Torque [N-m] | Max Speed [RPM] | Reduction Ratio To Encoder | Max Speed at Encoder [RPM] | Encoder | Mounting | Datasheet |
| Drivetrain | Drivetrain Motor | AmpFlow | F30-150 | 2 | 24 | 30 | 9.67 | 6900 | 1 | 6900 | AMT series; Continuous | Rear shaft out back of motor | |
| Arm | Turntable/turret | BAG Motor | PM15R-25f | 1 | 12 | 53 | 0.4 | 13180 | 2500 | 5.272 | AEAT-6012; Absolute, SPI | Custom shaft for joint | |
| Arm | Shoulder Linear Actuator | Firgelli Automations | FA-1000-L-12-6" | 1 | 12 | 5 | 1000 lb | 0.2"/s | N/A | 0.42 | AEAT-6012; Absolute, SPI | Custom shaft for joint | |
| Arm | Elbow | Assun Motors | AM-36PACL3570GB-6.3-12659 (see the model 1204 in the linked website https://assunmotor.com/online-shop/dc-brushed-coreless-motor/am-cl3570gaf-series) | 1 | 12 | 25 | 0.669 | 4150 | 252 | 16.46825397 | AEAT-6012; Absolute, SPI | Custom shaft for joint | |
| Arm | Wrist | Polulu | 150:1 Gearmotor 37Dx73L | 2 | 24 | 5.5 | 4.8 | 67 | 1 | 67 | 64 CPR | Rear shaft out back of motor | https://www.pololu.com/file/0J1736/pololu-37d-metal-gearmotors-rev-1-2.pdf |
| Arm | claw | Polulu | 30:1 Gearmotor 37Dx68L | 1 | 24 | 3 | 0.15 | 280 | 1 | 280 | 64 CPR | Rear shaft out back of motor | https://www.pololu.com/file/0J1736/pololu-37d-metal-gearmotors-rev-1-2.pdf |
| Arm | Claw Tool Tip Servo | Towerpro | SG90 | 1 | 5 | 0.176 | 600 | N/A | No feedback | ||||
| Science | Centrifuge | Pololu | 4685 | 1 | 24 | 3 | 3.825 (post reduction) | 100 | AEAT-6012; Absolute, SPI | Shaft + set screw | 4685 | ||
| Science | Elevator | Pololu | 4693 | 1 | 24 | 3 | 2.256 (post reduction) | 200 | Built in (see datasheet) | Shaft + set screw | 4693 | ||
| Science | Lid Servo | Pololu | FS90 | 1 | 5 | 0.127/0.147 | 83.33/100 | No feedback | Press onto servo gear | FS90 | |||
| Science | Shovel Servo | Hitec | 32082S | 1 | 5 | 0.275/0.333 | 83.33/100 | No feedback | Press onto servo gear | 32082S | |||
| Gimbal | Pan Servo | Hitec | HSR-1425CR | 1 | 5 | 0.64 | 0.333 | 52 | 1 | 52 | AEAT-6012; Absolute, SPI | Servo clamp collar | https://hitecrcd.com/products/servos/robotic-servos/hsr1425/product |
| Gimbal | Tilt Servo | Hitec | HS-422 | 1 | 5 | 0.8 | 0.323 to 0.402 | 47.6 to 62.5 | N/A | No feedback | Custom shaft for shaft sleeve | https://hitecrcd.com/products/servos/sport-servos/analog-sport-servos/hs-422/product | |
| Gimbal | Roll Servo | Towerpro | SG90 | 1 | 5 | 0.176 | 600 | N/A | No feedback | Nut & Bolt |
Limit Switches
| Mechanism | Location | Manufacturer | Manufacturer Part Number | Quantity | Voltage (V) | Max Current [A] |
| arm | Turntable | N/A | V-155-1C25 | 2 | 125 | 15 |
| arm | Shoulder | None | None | 0 | ||
| arm | elbow | N/A | V-155-1C25 | 2 | 125 | 15 |
| arm | wrist | N/A | kw11-2 | 1 | 125 | 5 |
| arm | claw | N/A | kw11-2 | 1 | 125 | 5 |
| science | Geneva Drive | V-155-1C25 | 1 | 3V3 | 0.6 | |
| science | Geneva Drive | V-155-1C26 | 1 | 3V3 | 0.6 | |
| science | Top of Lift | V-155-1C27 | 1 | 3V3 | 0.6 | |
| science | Bottom of Lift | V-155-1C28 | 1 | 3V3 | 0.6 |