7. Motor Sizing and Battery Sizing - M-division-2021-2022-even/repo-10 GitHub Wiki

SL.NO	Components	QTY	Operating Voltage	Maximum current
1	Ardunio Mega 2560	1	5V	70mA
2	Servo Motor(MG995)	3	5V	350mA
3	Servo Motor(SG90)	2	5V	250mA
4	Potentiometer	4	5V	20mA

MOTOR SIZING

No. of links-3 We have to use two different kinds of servo One is SG 90 and one is MG 995 Mass of servo SG-0.050kg Mass of servo MG-0.058kg Mass of 1 link- volume x density

            (6.5cmx2cmx0.4cm) x 0.0019kg/cm^3=0.0098kg

             0.00988 kg

Mass of holder- (3cmx1cmx0.3cm) x 0.0019kg/cm^3=0.00171kg

             0.00171kg

Torque required to move slave bot- (mass of link3+mass of holder+mass of servo SG+mass of servo MG) x radius of movement x safety factor (0.009883+0.00171+0.050+0.058)x10x1.5

                                 2.08kgcm 

So the suitable motor will be SG 90 for links and for base it will be MG 995

Adapter sizing

Required voltage: +5v required current: current x number of motors x freedom of safety

                                       650mA x 4 x 1.2

                                       3A

An adapter of 6V will work properly