[EricH]

Torque is not everything. Power is. You can make any motor in the KOP have enough torque to lift any FRC-type load... but it might take a long while if it doesn't have a lot of power.

For the record, Ethan, I've seen two (older model) FP motors with stock gearboxes and a 3" or so diameter winch lift an entire robot, 130 lb with battery and no bumpers, up to 10' in the air in about 2 seconds, 4 if you include raising the lift. I don't remember those two breaking much cable--but they sure bent the (aluminum C-channel) lift when driven down when it was at the bottom! They were locked in place when at the top by a shifting-type pneumatic cylinder fired into a notch on the winch.

A window motor doesn't have a lot of speed necessarily. Sure, you can have them give 120* of motion in a split second with no reduction--I've seen that done too, on a low-weight, low torque application. But use them to drive a robot? Nope, too darn slow despite all that torque. It's been done.

The primary considerations are: How fast does the arm need to move? How much torque is the arm exerting, approximately? Then you want to consider: Where is your motor planned to go? What motors are already committed elsewhere? How much of a safety factor do you want? (For the cases where somebody decides to use arm-arm contact to keep your arm down. It can happen.) Do you want the arm to double as a robot-righting device? Hey, it could be quite handy if either you or a partner goes down.