Team 716 used used one FP motor to drive the joint of our secondary arm.
http://www.chiefdelphi.com/forums/pi...gle&picid=9866
We combined the FP gearbox and the kit gearbox together to create the proper reductions needed to lift the tetras. So far it works wonderfully. The FP barely even gets warm each time we run it. While I wouldn't say it is the most compact arm joint out there, it does the job well, especially for the first time our team has ever attempted to build a complex arm (well, more complex than anything we have done in the past).
Come check it out at UTC, New Jersey, or nats.
-- Jaine
edit: I found some pictures of our arm setup; one is a picture of the KOP gearbox with the drum from the FP gearbox attached, the other is a picture of the FP and its gearbox. The two are put together and...voila!