I continue to study robots.
I'm starting to understand why the Amicus and PowerPong motors don't change speed fast enough. They have low power supplies. Amicus has an average power of about 60 watts, PowerPong has a 24 volt 3 amp (72 watt) power supply. Tennirobo and rdv have brushless motors like those used on quadcopters. For example, the Racestar BR2212 1400kv motor. Size 27x28 mm, weight 52 grams, at a voltage of 11 volts, the no-load current is 0.6A, the maximum current is 19A, the maximum power is about 200W. In Amicus and PowerPong, the power delivered to one motor can be approximately estimated at 20W (3x20 out of 72). The rdv has a 190w power supply in the circuit. Approximately 60 watts can be allocated to one motor. There should be a relationship between the set speed and the power given to the motor. For example, speed up from 0 to 5000 rpm at 20W in 2 seconds, at 40W in 1.2 seconds, at 60W in 0.8 seconds. If we draw an analogy with a car, one has an engine power of 40 hp, speed up to 100 km / h in 40 seconds, the other has 300 hp, speed up to 100 km / h in 5 seconds. But both cars can travel at a speed of 100 km/h.
P.S. We are waiting for the robot Amicus Prime plus from Butterfly, with a 150W power supply, the price is $2500. And the Amicus Super Prime model with a 250W power supply for $3,000 😊.