I built a small balancing robot. For the motors I used the 50:1 6V high-power micro metal gearmotors with encoders. While I had lots of fun with them and was impressed with how much power they pack in those small packages, after a few got broken and replaced (broken brushes and/or gears) I am thinking that they might not be durable enough for what I want. After all (correct me if I’m wrong), not only a balancing robot can exert a lot of mechanical load on motors when braking, accelerating etc. but crashes can happen and motors can get stuck while on full power.
I know I always have the option to go to medium or low power micro motors, but I prefer having at least the same performance of the motors I used in terms of torque and speed. Therefore, I thought of choosing a bigger diameter motor which is either low or medium power having the same or a little bit higher performance than what I have. I thought of the following alternatives (all with encoders):
- 20D 25:1 6V
- 25D 9.7:1 6V low power
- 25D 9.7:1 12V medium power (would probably need a step-up converter for this one)
A few specs of my robot that I think are relevant:
- Motor voltage: between 7.2 to 8.4 volts
- Robot weight: Approximately between 750g and 1000g
- Motor drivers: DRV8838
- Wheels: Pololu 90x10mm wheels
The questions I want to ask are the following:
- Are my alternatives the right direction towards dealing with durability issues while maintaining performance?
- All of the alternatives above require me to have a driver with a higher current or voltage rating. What is the closest feasible alternative to the DRV8838 having the right current and voltage rating?
- Is there any chance that the motors got broken not due to being not fit for the task and if so, is there any possibility that I will not need a different type of motors? (For example setting a current limit)
Thanks a lot,