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cmmguy
06-12-2008, 08:22 PM
It just caught my eye.... (http://www.harmonicdrive.net/products/actuators/rsf/)

http://machinedesign.com/Content/Site305/Articles/11_21_2007/71794rsf3jpg_00000049747.jpg

A new ultra-miniature servo actuator is now available from Harmonic Drive! Measuring just 12mm square x 47 mm in length, the RSF-3 brushless actuator delivers maximum torque up to 1.8 in-lb and maximum speeds up to 333 rpm, depending on gear ratio.

Zero-backlash harmonic drive gearing provides positional accuracy better than 10 arc minutes and a 200 line, 2 channel incremental encoder (w/ index) gives a minimum resolution of 24,000 ppr at the output shaft. Ideally suited for precision servo applications where available space is at a premium.

http://www.harmonicdrive.net/media/products/actuators/rsf-3B.gif

Adrenalynn
06-12-2008, 08:24 PM
That's about 29 oz-in of torque for way of comparison.

[edit to add:] In the "inexpensive" catagory of sub-micro servos have a look here as well: http://www.servocity.com/html/s3113_micro_servo.html

Thats about 20oz-in of torque @ 6v, for $23.

cmmguy
06-13-2008, 07:57 AM
The RSF is definitely not in the "hobby" category. Not sure the cost, likely >$250