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Re: 10-32 or 10-24?
10-32's!!!
Easier to tap (saves money with fewer broken taps), stronger, get a tapped hole in thinner material.
We don't use too many on our robot. We find that for structure, welding is way lighter than 1/4-20's. For prototypes, we use 1/4-20, and (unfortunately) 1/4-28's, as we have thousands of these stupid things.
On things that I work on, I don't usually end up with too many 10 sized hardware. I find that 99% of the time, something else will fail before that bolt, so I go with 8-32's for weight.
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