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Originally Posted by snipr22
I'm not sure on the torque calculations for our arm (I'm on the drive train team) but for the lower joint of our arm we used two FP motors locked to a common shaft with a 16T sprocket on it. This sprocket "walks" along the OD of a semi circular, .500" thick piece of lexan with #25 chain around the OD seated in a groove. As for the upper joint we have a van-door motor fed through a modified KOP gearbox with a 4 foot (pneumatically telescopes to 5 feet) arm on the output shaft.
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Wow. That sound similer to what we did. We have 2 FP in the gearboxes (12V) together turning those 2 oversized drums they give you. This pulls on rope to move our arm. I don't know what the torque is but it could (if they were taped up there or somthing) about 3-4 tetras I think. Maybe more With no sign of giving up.