torque = τ = rFsin(θ) |
| Servo torque |
5V (oz-in) |
6V (oz-in) |
5V (kg-cm) |
6V(kg-cm) |
| HS475 |
61.1 |
76.4 |
4.4 |
5.5 |
| HS645 |
106.9 |
133.3 |
7.7 |
9.6 |
| HS225 |
54.2 |
66.7 |
3.9 |
4.8 |
| HS805BB |
224.0 |
343.0 |
16.0 |
24.7 |
| HSR-5995TG |
417.0 |
417.0 |
29.8 |
29.8 |
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Inches |
Centimeters |
| Shoulder |
19.0 |
48.2 |
| Elbow |
13.1 |
33.2 |
| Wrist |
8.3 |
21.0 |
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Inches |
Centimeters |
| Shoulder |
15.6 |
39.5 |
| Elbow |
9.6 |
24.5 |
| Wrist |
4.8 |
12.3 |
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| Angle |
is the operating angle where 90 degrees is the maximum force (gravity) applied to the joint. |
| Torque |
is the servo's torque rating. Enter your own value or use the values form the table above. |
| Length |
is measured from the joint to the end of the gripper. The gripper on the SG5-UT and SG6-UT has a 3.25” (8cm) swing between open and closed. This equates to a grabbing an object that is 2.5” (6.35cm) to 0” Open/Closed. The gripper paddle is 2.75” (7cm) in length. |
| Weight |
Max lifting weight. |
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Enter metric values of Torque and Length to calculate weight in kilogram. Use the table above or enter your own values. For example enter 24.7 kg-cm in the Torque textbox, 39.50 cm in the Length textbox and click Calculate to produce 0.63 kg at 90 degrees. |
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At 90 degrees, a joint feels the full force of gravity. |
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The joint that has the lowest value for a particular calculation is the max lift capacity for that configuration at that moment. |
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