From the simulation, we got an idea of the robot's parameters. While experimenting with the simulation's parameters, we mentioned that the motor torque needed to drive the robot is 18 N, but the calculated torque is slightly more than this; we are selecting a standard torque motor that is very close to the actual torque in order to make the motor selection easier. One of the standard motors that we might consider is from Pololu. According to our design specifications, we could select a high-torque DC gear motor with an encoder working at 12 V DC and with a speed of 80 RPM.

The following image shows the selected motor for this robot. The motor comes with an integrated quadrature encoder with a resolution of 64 counts per revolution of the motor shaft, which corresponds to 8,400 counts per revolution of the gearbox's output shaft:

This motor has six differently colored pins . The descriptions of this motor's pins are given in the following table:

In accordance with our design specifications, we will choose a wheel diameter of 90 mm. Pololu provides a 90-mm wheel, which is available at http://www.pololu.com/product/1439. The preceding image showed the motor assembled with this wheel.

The other connectors needed to connect the motors and wheels together are available as follows:

• The mounting hub required to mount the wheel to the motor shaft is available at http://www.pololu.com/product/1083.
• The L-bracket for the motor to mount onto the robot chassis is available at http://www.pololu.com/product/1084.