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Re: gearing problem. Help please!
In My Humble Opinion:
CIMs are much more suitable as drive motors. Use all four of them! For your arm, use the window motors, which have worm gears inside so they won't backdrive (easily). If you need a third pivot point, use the van door, but it's worm gear is significantly easier to backdrive.
CAVEAT: I'm a programmer, and this is all regurgitated information from our chief gearhead.
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"I would rather have a really big success or a really spectacular crash and failure then live out the warm eventual death of mediocrity" - Dean Kamen
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