2020 Master Actuator Spreadsheet
| Mechanism | Degree of Freedom | Model Number | Manufacturer | Quantity | Voltage (V) | Max Current Draw [A] | Stall Torque (N-m) | Max Speed (RPM) | Encoder Type | Mounting | More Info |
| Drivetrain | Drivetrain Motor | F30-150 | AmpFlow | 2 | 24 | 30 | 9.67 | 6900 | AMT series; Continuous | Rear shaft out back of motor | |
| Arm | Turntable/turret | 217-3351 | Vexpro | 1 | 12 | 53 | 0.4 | 13180 | MAE3; Absolute, PWM | Custom shaft for shaft sleeve | |
| Arm | Shoulder Linear Actuator | FA-1000-L-12-6 | Firgelli Automations | 1 | 12 | 5 | 1350lb (dynamic) 1000lb (static) | 0.2"/sec | MAE3; Absolute, PWM | Custom shaft for shaft sleeve | |
| Arm | Elbow | AM-CL3570GA/B-1204 | Assun Motors | 1 | 12 | 25 | 0.669 | 4150 | MAE3; Absolute, PWM | Custom shaft for shaft sleeve | |
| Arm | Wrist | RB-Dfr-233 | DFRobot | 2 | 12 | 7 | 4.413 | 83 | Pololu end cap; Continuous | Rear shaft out back of motor | |
| Arm | Claw | 2823 | Polulu | 1 | 12 | 5.5 | 1.3734 | 330 | Pololu end cap; Continuous | Rear shaft out back of motor | |
| Arm | Claw Tool Tip Servo | SG90 | Towerpro | 1 | 5 | 0.176 | 600 | No feedback | |||
| Science | Centrifuge | 638256 | ServoCity | 1 | 12 | 4.9 | 0.666 | 195±20 | |||
| Science | Elevator | 638278 | ServoCity | 1 | 12 | 20 | 4.805 | 165 | |||
| Science | Shovel Servo | SG90 | Towerpro | 1 | 5 | 0.176 | 600 | No feedback | |||
| Gimbal | Pan Servo | HSR-1425CR | Hitec | 1 | 5 | 0.64 | 0.333 | 52 | AEAT-6012; Absolute, SPI | https://hitecrcd.com/products/servos/robotic-servos/hsr1425/product | |
| Gimbal | Tilt Servo | HS-422 | Hitec | 1 | 4.8 to 6.0 | 0.8 | 0.323 to 0.402 | 47.6 to 62.5 | No feedback | Custom shaft for shaft sleeve | https://hitecrcd.com/products/servos/sport-servos/analog-sport-servos/hs-422/product |
| Gimbal | Roll Servo | SG90 | Towerpro | 1 | 5 | 0.176 | 600 | No feedback | Nut & Bolt |