7.MOTOR SIZING. - B-Division-2022-2023-Odd/Repo-11 GitHub Wiki

Mass=Density * Volume

Mass= 1.18 * (14 * 28 * 0.3)

=138.7g i.e 0.1387kg

TORQUE= Radius * Force

We Know That,

Force=Mass * Gravity

:.T1=14 * 0.1387 * 9.8

:.T1=19.4125Nm

T1*Factor of safety

We Know that,

Factor of safety=1.5

:.T1 * 1.5=28Nm ~ 28Nm

:.SERVO MOTOR 1 and 2= Tower Pro MG996R

Mass=Density*Volume

Mass= 1.18 * (28 * 20 * 0.3)

=198.24g i.e 0.198kg

TORQUE= Radius*Force

We Know That,

Force=Mass*Gravity

:.T2= 28 * 0.198 * 9.8

:.T2=54.3312Nm

T2 * Factor of safety

We Know that,

Factor of safety=1.5

:.T1 * 1.5 = 81.4968Nm ~ 81Nm

:.SERVO MOTOR 3 and 4 = Tower Pro MG996R