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The max speed for the servo shown is 130RPM when connected to 6V. Assume that the gearbox on your servo is able to output a torque of 1.5 kg-cm while turning at this speed. Using the number of teeth on each gear
provided in the table, determine the torque and rotational speed of the output shaft on the DC motor.

HINT: Work backwards from the output shaft and use the equations developed in class that relate the number of teeth to the torque. When working back from the output shaft to gear 7/6, realize that the “torque” transmitted by gear 7 is the SAME as the torque transmitted by gear 6 since they are joined. Then, relate the torque of gear 6 to gear 5 based on their numbers of teeth. Since gears 5 and 4 are actually one piece, the torque in 4 and 5 will be the same (as was the case for gears 6 and 7). Repeat for the other gears, working your way all the way back to the DC motor.

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Speed can

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