Mass of components

Sl.No	Component names	Mass in grams
1	Stepper motor	300
2	Relay	40
3	Arduino	40
4	Battery	800
5	Metal Rods	400
6	Sketch Pens	30
7	Servo Motors	20
8	Other loads	150

Motor sizing

. F=Fa+mg(sinQ + UcosQ) where U=0.4

. T=FD/2n where n=0.9

After calculation we need one Servo motor of 15 Rpm

. F=mg

. T=Fr1.5

After calculation we need two Stepper motor of 10 Rpm

. F=uw

. T=FrFOS

Stall torque Operating voltage Stall current

1.2 kg-cm 3-7.2 v 650mA

Battery Sizing

Components	Stall current(mA)	Voltage(V)
Stepper motor	900	12
Servo motor	650	5
PIR sensor	40	5
Arduino	100	5-12
Relay module	160	5

Total current required by the components of 12v is 2.91A/h

Total current required by the components of 15v is 3.42A/h