
\begin{table}[H]
    \centering
    \begin{tabular}{||c|c|c||}
        \hline
        Input (Motor) Power & \(P_{input}\) & \(90 Watts\) \\
        \hline
        Input (Motor) Torque @ Nominal & \(\tau_{input}\) & \(0.560 Nm\) \\
        \hline
        Input (Motor) Speed @ Nominal & \(\omega_{input}\) & \(2510 rpm\) \\
        \hline
        Input (Motor) Stall Torque & \(\tau_{in\_stall}\) & \(7.480 Nm\) \\
        \hline
        Gearbox Ratio & \(\frac{n_1}{n_2}\) & \(100:1\) \\
        \hline
    \end{tabular}
    \caption{Motor/Gearbox Specifications}
    \label{table:ApxMotorGearboxSpecs}
\end{table}

\subsubsection{Power Calculation}
\begin{equation}
    P_{output} = \epsilon P_{input} = 0.9 * 90W = 81W
     \label{eq:PowerCalc}
\end{equation}

\subsubsection{Torque Calculation}
\begin{equation}
    \tau_{output} = \epsilon  \tau_{input} \frac{n_1}{n_2} = 0.9 * 0.560 Nm * \frac{100}{1} = 50.4 Nm
    \label{eq:TorqueCalc}
\end{equation}

\subsubsection{Speed Calculation}
\begin{equation}
    \omega_{output} = \omega_{input}  \frac{n_2}{n_1} = 2510 rpm * \frac{100}{1} = 25.10 rpm = 150.6^\circ/sec
    \label{eq:SpeedCalc}
\end{equation}

\begin{table}[H]
    \centering
    \begin{tabular}{||c|c|c||}
        \hline
        Output Power & \(P_{output}\) & \(81 Watts\) \\
        \hline
        Output Torque @ Nominal & \(\tau_{input}\) & \(50.4 Nm\) \\
        \hline
        Output Speed @ Nominal & \(\omega_{input}\) & \(150.6^\circ/sec\) \\
        \hline
        Output Stall Torque & \(\tau_{out\_stall}\) & \(673.2 Nm\) \\
        \hline
    \end{tabular}
    \caption{Joint Output Specifications}
    \label{table:ApxJointSpecs}
\end{table}