Our team used a two RS-775s with Cim-u-lators and a 64:1 P80. This was connected with 10:1 (12:120) final sprocket drive and worked great.
In the off-season season we will work with some gas struts and perhaps some springs, so we can increase the speed of our arm.
For reference you can see a pic of our bot here:
http://www.chiefdelphi.com/forums/sh...highlight=3320