[David Guzman]

Originally Posted by Jared341

It sounds like you are looking for a motor/gearbox combination that gives you ~75RPM theoretical free speed @ ~127 N*m theoretical torque (these are the numbers of an RS-550 reduced by 256).

A CIM at 64:1 gives you more speed (~83 RPM before losses) with more torque (~155 N*m stall). BaneBots sells a 64:1 CIM gearbox: http://banebots.com/pc/P80K-nnnn-0005/P80K-444-0005

Of course, this is a more expensive (and much larger) option, but it would give you the specs you desire.

Unfortunately I have many other constrains that keep me from using CIM motors. Weight, size, current draw, and power are all critical for what I am doing. The CIM motor draws too many AMPs for my application and would not fit either.

At this point it is too late for me to make drastic changes to the design. So please, if your reading this message find out if your tean has any RS-550 motors you can help me out with. I would greatly appreciate it and would be very thankful.