2021 SAR Build Master Actuator/Encoder Spreadsheet

Motors

MechanismLocationManufacturerManufacturer Part NumberQtyVoltage
[V]
Max Current Draw [A]Stall Torque [N-m]Max Speed
[RPM]
Reduction Ratio To EncoderMax Speed at Encoder
[RPM]
EncoderMountingDatasheet
DrivetrainDrivetrain MotorAmpFlowF30-150224309.67690016900AMT series; ContinuousRear shaft out back of motor














ArmTurntable/turretBAG MotorPM15R-25f112530.41318025005.272AEAT-6012; Absolute, SPICustom shaft for joint
ArmShoulder Linear ActuatorFirgelli AutomationsFA-1000-L-12-6"11251000 lb0.2"/sN/A0.42AEAT-6012; Absolute, SPICustom shaft for joint

https://www.firgelliauto.ca/products/heavy-duty

ArmElbowAssun MotorsAM-36PACL3570GB-6.3-12659 (see the model 1204 in the linked website https://assunmotor.com/online-shop/dc-brushed-coreless-motor/am-cl3570gaf-series)112250.669415025216.46825397AEAT-6012; Absolute, SPICustom shaft for joint

https://assunmotor.com/upload/2021/01/15/AM-CL3570GAN.pdf

ArmWristPolulu150:1 Gearmotor 37Dx73L2245.54.86716764 CPRRear shaft out back of motor

https://www.pololu.com/file/0J1736/pololu-37d-metal-gearmotors-rev-1-2.pdf

ArmclawPolulu30:1 Gearmotor 37Dx68L12430.15280128064 CPRRear shaft out back of motor

https://www.pololu.com/file/0J1736/pololu-37d-metal-gearmotors-rev-1-2.pdf

ArmClaw Tool Tip ServoTowerproSG9015
0.176600N/A
No feedback















ScienceCentrifugePololu468512433.825 (post reduction)100

AEAT-6012; Absolute, SPIShaft + set screw4685
ScienceElevatorPololu469312432.256 (post reduction)200

Built in (see datasheet)Shaft + set screw4693
ScienceLid ServoPololuFS9015
0.127/0.14783.33/100

No feedbackPress onto servo gearFS90
ScienceShovel ServoHitec32082S15
0.275/0.33383.33/100

No feedbackPress onto servo gear32082S














GimbalPan ServoHitecHSR-1425CR150.640.33352152AEAT-6012; Absolute, SPIServo clamp collar

https://hitecrcd.com/products/servos/robotic-servos/hsr1425/product

GimbalTilt ServoHitecHS-422150.80.323 to 0.40247.6 to 62.5N/A
No feedbackCustom shaft for shaft sleeve

https://hitecrcd.com/products/servos/sport-servos/analog-sport-servos/hs-422/product

GimbalRoll ServoTowerproSG9015
0.176600N/A
No feedbackNut & Bolt

Limit Switches

MechanismLocationManufacturerManufacturer Part NumberQuantityVoltage
(V)
Max Current [A]
armTurntableN/AV-155-1C25212515
armShoulderNoneNone0

armelbowN/AV-155-1C25212515
armwristN/Akw11-211255
armclawN/Akw11-211255














scienceGeneva Drive
V-155-1C2513V30.6
scienceGeneva Drive
V-155-1C2613V30.6
scienceTop of Lift
V-155-1C2713V30.6
scienceBottom of Lift
V-155-1C2813V30.6