2020 Master Actuator Spreadsheet

MechanismDegree of FreedomModel NumberManufacturerQuantityVoltage (V)Max Current Draw [A]Stall Torque (N-m)Max Speed (RPM)Encoder TypeMountingMore Info
DrivetrainDrivetrain MotorF30-150AmpFlow224309.676900AMT series; ContinuousRear shaft out back of motor












ArmTurntable/turret217-3351Vexpro112530.413180MAE3; Absolute, PWMCustom shaft for shaft sleeve
ArmShoulder Linear ActuatorFA-1000-L-12-6Firgelli Automations11251350lb (dynamic) 1000lb (static)0.2"/secMAE3; Absolute, PWMCustom shaft for shaft sleeve
ArmElbowAM-CL3570GA/B-1204Assun Motors112250.6694150MAE3; Absolute, PWMCustom shaft for shaft sleeve
ArmWristRB-Dfr-233DFRobot21274.41383Pololu end cap; ContinuousRear shaft out back of motor
ArmClaw2823Polulu1125.51.3734330Pololu end cap; ContinuousRear shaft out back of motor
ArmClaw Tool Tip ServoSG90Towerpro15
0.176600No feedback













ScienceCentrifuge638256ServoCity1124.90.666195±20


ScienceElevator638278ServoCity112204.805165


ScienceShovel ServoSG90Towerpro15
0.176600No feedback













GimbalPan ServoHSR-1425CRHitec150.640.33352AEAT-6012; Absolute, SPI

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

GimbalTilt ServoHS-422Hitec14.8 to 6.00.80.323 to 0.40247.6 to 62.5No feedbackCustom shaft for shaft sleeve

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

GimbalRoll ServoSG90Towerpro15
0.176600No feedbackNut & Bolt