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Re: what motor did you use(arm)
Turret - Keyang with a sprocket attached, the chain wrapped around the turret base, which had about a 16" diameter.
Lift - Fisher Price using the plastic gearbox it comes with, modified for mounting and to accept a sprocket for the chain that drove the lift.
Shoulder - Globe geared down through a chain reduction, I can't remember the exact ratio, but it was something around 5:1.
Wrist - Another Globe with a chain reduction, this time more like 2:1.
Gripper - 3/4" pneumatic cylinder.
Overall the motor selections/reductions worked nicely, the wrist is a bit fast though.
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