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My team's robot has an arm also, it weighs roughly 35 pounds, and with majority of the weight towards the end, a mentor of ours tested it and we couldn't belive the force required to lift the arm. We have a low bar robot so the position isn't the best for the actuator. We put 180 pounds of force between our actuators to lift our arm! So we added torsion springs on each side to take roughly 15 pounds off. I believe this is 15 pounds from the end, so that 180 will be a lot less. You could do that too.