7.Motor Sizing and battery sizing - P-Odd-2022/Repo-09 GitHub Wiki

Motor Sizing Calculations

mass=0.530 kg

r=1 cm

Vertical force, F= mg=0.800 x 9.8 = 7.84N

1N = 0.10197 kg

5.14N = 7.84 x 0.10197 kg = 0.7994 kg

Torque = F x r = 0.5241 x 1 = 0.7994 kg cm

Total torque=Torque x FOS = 0.7994 x 1.5 = 1.991 kg-cm

We need a servo motor providing us with a torque of 1.991 kg-cm. We can choose the Servo Motor MG966R series.

Total 6 Servo and 1 Stepper motors are used

Part	Operating Voltage	Operating/Load Current
6 Servo motor (MG966R)	5 V	3900 mA
1 Stepper Motor (NEMA 17)	5 V	1500 mA
1 Arduino Mega	5 - 12 V	100 mA
1 Arduino NANO	5V	40 mA

Operating Voltage = 5 V

Load current = 5540 mA = 5.540 A

Total current = F.O.S x Load current = 1.2 x 5.540 = 6.648 A

Hence we will be using an adapter of 5 V