My project has expanded to use standard size servos (link back to my micro servo comparison). Here's a little table that I'm using to compare various options.
| Model | Mode | Size | Wgt | Speed@5V | Power@5V | Speed@6V | Gears | Street |
|---|---|---|---|---|---|---|---|---|
| TowerPro SG5010 | Analog | 40.0x19.0x43.0 mm | 39g | 0.14sec/60° | 8 kg/cm | 0.11sec | Nylon | $8 |
| Hextronik HX12K TowerPro MG995 | Analog | 40.7x19.7x42.9 mm | 55g | 0.16 sec/60° | 10 kg/cm | 0.13sec | Metal | $8 |
| Hitec HS-322HD | Analog | 41.0x20.0x37.0mm | 43g | 0.19 sec/60° | 3.0kg/cm | 0.15sec | Karbonite | $10 |
| Bluebird BMS-621 | Analog | 40.5x20.0x38.5 mm | 41g | 0.13sec/60° | 6 kg/cm | 0.10sec | Plastic | $15 |
| Scanner RC SSV-9764MG | Analog | 40.5x20.0x38.5mm | 62g | 0.16 sec/60° | 9.6kg/cm | Yes | Metal | $18 |
| Futaba S3001 | Analog | 41.0x20.0x35.0mm | 45.1g | 0.28 sec/60° | xxkg/cm | Yes | Nylon | $20 |
| Futaba S3004 | Analog | 41.0x20.0x36.0mm | 37.2 | 0.23 sec/60° | xxkg/cm | Yes | Nylon | $20 |
| JR DS821 | Analog | 38.0x18.0x37.0mm | 43g | 0.19 sec/60° | 5.1kg/cm | Yes | Composite | $30 |
| Futaba S9257 | Digital | 36.0x15.0x29.0mm | 26g | 0.08 sec/60° | 2.0kg/cm | No! No! | Nylon | $55 |
| Futaba S9650 | Digital | 36.0x15.0x29.0mm | 26g | 0.14 sec/60° | 3.6kg/cm | 0.11 sec/60° | Nylon | $65 |
| Hitec HS-965MG | Analog | 40.0x20.0x37.0mm | 62g | 0.13 sec/60° | 7.4kg/cm | 0.10 sec/60° | Metal | $70 |
| Hitec HS-985MG | Analog | 39.4x20.0x37.8mm | 62g | 0.16 sec/60° | 9.6kg/cm | Yes | Metal | $70 |
| Futaba S9402 | Analog | 41.0x20.0x38.0mm | 55g | 0.13 sec/60° | 6.4kg/cm | Yes | Metal | $75 |
The conversion for torque from kg/cm to oz/in is to multiply by 14.7. So a servo with a torque of 1.0 kg/cm has an imperial torque of 14.7 oz/in.
