[EricH]

Originally Posted by Chris is me

You're probably definitely going to need 2 motors to articulate a tube.

I think it could be done with one. It wouldn't be the most elegant solution, or the lightest, but I think it could be done.

What I'm thinking is something like a dog shifter, with a "forward" mode, a "reverse" mode with a second gear to reverse the belt, and a "neutral" mode (in between forward and reverse) for slower articulation. Alternatively, you could just have the "neutral" mode.

Now, if you want to count any servos used as motors, then yeah, that is 2 motors.