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22.6 Gear Trains and Power Drives
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The motor inside an R/C servo turns at several thousand r/min. This is too fast to be used directly on model airplanes and cars, or on robots. All servos employ a gear train that reduces the output of the motor to the equivalent of about 50 to 100 r/min. Servo gears can be made of plastic, nylon, or metal (usually brass or aluminum). Metal gears last the longest, but they significantly raise the cost of the servo. Replacement gear sets are available for many servos, particularly the medium- to higher-priced ones ($20+). Should one or more gears fail, the servo can be disassembled and the gears replaced. In some cases, you can upgrade the plastic gears in a less expensive servo to higher-quality metal ones. Besides the drive gears, the output shaft of the servo receives the most wear and tear. On the least expensive servos this shaft is supported by a plastic bearing, which obviously can wear out very quickly if the servo is used heavily. Actually, this piece is not a bearing at all but a bushing, a sleeve or collar that supports the shaft against the casing of the servo. Metal bushings, typically made from lubricant-impregnated brass, last longer but add to the cost of the servo. The best (and most expensive) servos come equipped with ball bearings, which provide longest life. Ball bearing upgrades are available for some servo models.
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22.7 Typical Servo Specs
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R/C servo motors enjoy some standardization. This sameness applies primarily to standardsized servos, which measure approximately 1.6 by 0.8 by 1.4 in. For other servo types the size varies somewhat between makers, as these are designed for specialized tasks. Table 22-1 outlines typical specifications for several types of servos, including dimensions, weight, torque, and transit time. Of course, except for the size of standard servos, these specifications can vary between brand and model. A few of the terms used in the
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22.8 CONNECTOR STYLES AND WIRING
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TABLE 22-1 SERVO TYPE Standard
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Typical Servo Specifications LENGTH 1.6 2.3 0.85 1.6 1.8 2.3 WIDTH 0.8 1.1 0.4 0.8 1.0 1.1 HEIGHT 1.4 2.0 0.8 1.0 1.7 2.0 WEIGHT 1.3 oz 3.4 oz 0.3 oz 1.6 oz 2.9 oz 3.8 oz TORQUE 42 oz-in 130 oz-in 15 oz-in 60 oz-in 135 oz-in 195 oz-in TRANSIT TIME 0.23 sec/60 0.21 sec/60 0.11 sec/60 0.16 sec/60 0.16 sec/60 1 sec/360 0.22 sec/60 1.3 sec/360
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specs require extra discussion. As explained in 19, Choosing the Right Motor, the torque of the motor is the amount of force it exerts. The standard torque unit of measure for R/C servos is expressed in ounce-inches or the number of ounces the servo can lift when the weight is extended 1 in from the shaft of the motor. Servos exhibit very high torque thanks to their speed reduction gear trains. The transit time (also called slew rate) is the approximate time it takes for the servo to rotate the shaft X (usually specified as 60 ). Small servos turn at about a quarter of a second per 60 , while larger servos tend to be a bit slower. The faster the transit time, the faster acting the servo will be. You can calculate equivalent r/min by multiplying the 60 transit time by 6 (to get full 360 rotation), then dividing the result into 60. For example, if a servo motor has a 60 transit time of 0.20 s, that s one revolution in 1.2 s (0.2 6 = 1.2), or 50 r/min (60 / 1.2 = 50). Bear in mind that there are variations on the standard themes for all R/C servo classes. For example, standard servos are available in more expensive high-speed and high-torque versions. Servo manufacturers list the specifications for each model, so you can compare and make the best choice based on your particular needs. Many R/C servos are designed for use in special applications, and these applications can be adapted to robots. For example, a servo engineered to be used with a model sailboat will be water resistant and therefore useful on a robot that works in or around water.
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