4.5. 動力系統

動力系統（馬達，減速機和編碼器）

以下的規格，是基於減速後的輸出軸，包括變速箱和/或滑輪系統。

Flipper shaft 履帶關節臂輸出軸

規格	說明
Track-arm motor (1 unit)	DC motor with steel gearbox
Motor rated voltage	24V
Motor rated current	2.75A
Motor max current	16A
Shaft rated speed	19RPM
Shaft rated torque	92Kg.cm
Shaft encoder resolution	1140 counts per revolution

Drive track shaft 驅動履帶軸

規格	說明
Track-wheel motors (2 units)	DC motors with steel gearbox
Motor rated voltage	24V
Motor rated current	2.85A
Motor max current	18A
Shaft rated speed	230RPM
Shaft rated torque	13.5Kg.cm
Shaft encoder resolution	counts per revolution