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Voltage is like the max speed of the motor, amperage is the torque.
Raising the voltage in an NiMH battery only increases the rate at which the motor receives that same low amperage, but it's still not receiving all the amperage it needs.
So it can spin plenty fast on a 9.6v batt, it just can't move much weight. That's why we used to use torque and triple torque gears to push 400-470fps springs back in the day.
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