Joint Configurations

Axis	Motor	Hall Sensor	Gearbox	Total Reduction	Expected Backlash [º]	Encoder Model	Encoder Location

Axis	Motor	Hall Sensor	Gearbox	Total Reduction	Expected Backlash [º]	Encoder Model	Encoder Location
1	MAXON #642221 60mm Diameter, 200W, 24V BLDC Motor https://www.maxongroup.us/maxon/view/product/642221	Yes	Worm Gear/Worm Wheel https://khkgears2.net/catalog5/AG1-60R1 https://khkgears2.net/catalog5/SWG1-R1	60:1	0.36	RLS #BR10SPC14B12CD00 RLS Orbis Encoder with Magnetic Actuator, SPI Slave	Joint Output / Post Reduction
2	MAXON #642221 60mm Diameter, 200W, 24V BLDC Motor	Yes	Harmonic Gearbox GAM #GSL-CS-020	120:1	~0 (0.5 arcmin)	BROADCOM# AEAT-6012-A06	Joint Output / Post Reduction
3	NANOTECH #DB59L024035R-A NEMA 23, 172W, 24V BLDC Motor	Yes	Planetary Gearbox PLUS Belt Drive, 56:18 ratio	193.91556 (349048:1800) apologies for the weird ratio	0.5	BROADCOM# AEAT-6012-A06	Joint Output / Post Reduction
4	MAXON #651614 45mm Diameter, 70W, 24V BLDC Motor	Yes	Planetary Gearbox	156:1	1	RLS #BR10SPC14B12CD00 RLS Orbis Encoder with Magnetic Actuator, SPI Slave	Joint Output / Post Reduction
5	MAXON #651614 45mm Diameter, 70W, 24V BLDC Motor	Yes	Planetary Gearbox	156:1	1	BROADCOM# AEAT-6012-A06	Joint Output / Post Reduction
6	MAXON #651614 45mm Diameter, 70W, 24V BLDC Motor	Yes	Planetary Gearbox	156:1	1	BROADCOM# AEAT-6012-A06	Joint Output / Post Reduction

Expected Maximum Current Draw

Axis	Estimated Max Output Torque	Expected Efficiency	Total Ratio	Motor Constant (nM/A)	Motor Current

Axis	Estimated Max Output Torque	Expected Efficiency	Total Ratio	Motor Constant (nM/A)	Motor Current
1	12.5	0.34	60	0.113	5.422522991
2	158	0.85	120	0.113	13.70813812
3	69.3	0.817	193.91556	0.05	8.748397645
4	17.6	0.72	156	0.152	1.030889189
5	17.6	0.72	156	0.152	1.030889189
6	17.6	0.72	156	0.152	1.030889189
End Effector	0.303	1	1	0.152	1.993421053