MOTOR AND BATTERY SIZING :

Total Volume of unit = ( Volume of Slider ) + ( Volume of Link 1 )X6 + ( Volume of Link 2 ) X 6 + ( Volume of Rack ) + ( Volume of Pinion ) + ( Volume of L-Clamps ) X 12

               V = ( π X r^2 X h1 - a^3 ) + ( l1 X b1 X h2 ) X 6 + ( l2 X b1 X h2 ) X 6 + ( l3 X b2 X h3 ) + ( π X R^2 X h4 ) + ( l4 X b3 X h2 ) X 12

               V = ( 27707.1 ) + ( 34290 ) + ( 64008 ) + ( 21250 ) + ( 12580 ) + ( 161.29 )

               V = (27.7071 cm^3)acrylic + (98.45929 cm^3)aluminium + (33.830 cm^3)plastic + 2*(100.708 cm^3)acrylic slider acrylic joint between shaft 
                       and link  +  (50 cm^3) Top

Total Mass of unit = (756.7071 cm^3) X 1.18 + (128.45929 cm^3) X 2.7 + 436 gm + (401.416) X 1.18

               m = 3875.8 gm

               m = 3.8578 kg

Force(Load on Motor) = µ X m X g

               L = 0.4 X 3.8327366  X 9.81

               L = 20.19165841 N

Max Load on Motor = FOS X Force(Load on Motor)

               F = 1.5 X 20.19165841

               F = 30.787487627 N

Torque = Max Load on Motor X d/2

               T = 30.787487627  X (4/2)

               T =  65.37829 N-cm

               T = 6.854902 K-gcm

Motor Sizing : 10 RPM low noise DC motor with Metal Gear Grade A

Load Current : 300 mA

Adapter Sizing : 12 V Adapter