[AndyB]

If you are looking at doing a motorized arm, and decide to use a motor like the globe or window motor, you will want to gear it up to get more torque, but you have to mathematically determine the gearing to get enough torque while not sacrificing speed.

Many teams gear up their arms by sticking a small sprocket on the end of their motor shaft and running chain up to a larger sprocket, which is attached to the arm. This is what we are designing for the four-bar linkage we are prototyping this summer.

I have some decent pictures of team 2056, 1902, and 148's arms I believe. If I find them, I'll post them up here.