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Originally Posted by troy_573
Thxs you both for those response now i have another question we need 90 maybe 95 Ft lbs of torque can u get that with out stalling the motor using either the F-P or Van door ... preferably the Van door because the desgin is set up for the van door but switching ( back) to the F-P is not a big deal
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Troy-
You can get that kind of torque out of either motor with adequate gearing. Either case is going to require some fairly serious gearing to keep the motors happy.
As to which is more suitable for arm control, my knee jerk reaction would be to not use the FP motor for arm control. The FP motor likes to stay at high RPM to deal with heat removal, and moving an arm is going to almost guarantee the motor will have power applied to it and the armature not moving (while holding the arm in position). This will fry it quite quickly, even if you are well below the 40 amp breaker limit. So even though the FP motor is vastly more powerful then the van door, I think using it for arm control could be a little hazardous to it's health. I'm sure teams have done it, but it doesn't strike me as the best application of the motors.
The van door motor may not be beefy enough for this. Your looking for an awful lot of torque, and I'm not sure its practical to get that out of the van door motor. It's already geared down, and further gearing is going to come at a pretty high price in speed.
I think a better choice would be a CIM motor. It runs at a much lower RPM with comparable torque to the FP so gearing could be easier, and isn't as prone to heat-death. If you already plan on using all 4 CIM motors for drive, consider replacing two with the FP motors.
Also, consider that you can gang two motors together on an arm to get the torque your looking for. I know that using two valuable CIM motors for an arm when they are so easy to use in drive isn't to attractive at first, but having an effective arm this year is at least as important as an effective drive.
Maybe an engineer type will stop by and crunch some numbers and let us know if it really is feasible to use either the Tagine or FP motor for this. I'm just relating what my 'gut' is telling me from seeing what motors have been used for in past years.
-Andy A.