[FW] Tracked 4WD Lifter: Aegis

[R9000]

Thanks. Wow, yeah 70 RPM is fast. More than 1 rev. per second. I was gonna go slower than that, since the shovel will basically orbit the whole robot. In the case of using a 24V motor however, what voltage LiPo battery should I go for? 5S at 18.5V for the wheels, or 6-7S for the motor to have its full power? I know you can over-volt motors to an extent, but I obviously want to be careful here. One more thing: the shovel arm needs to be powered on both sides of the robot, so I either need two motors to share the load, or a gearbox with two outputs (if they exist). I was thinking of two of these (ebay link) at 12V and 40 RPM. Any thoughts?

I also calculated I'll need about 40Nm of torque overall in the motors (~0.3m (arm length to tip of shovel) * 13.6Kg * 9.81) but two of these motors should only give around 0.43 Nm under load, so I'm guessing I need something bigger. Either that or I've made some error in calculation.