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Re: what motor did you use(arm)
1741 used five motors on the arm assembly of our first robot. One keyang to move a shuttle up and down. Two fischer prices and one that ended up having to be changed multiple times (started as a keyang, then went to a globe on a custom worm drive gear box, and finally the banebots planetary on that same gear box). Finally we used one globe to adjust the pitch of our gripper via a screw drive. This system was extremely complicated and we chose to build an entire new robot for IRI. This new one used two banebots planetarys one on either end of a worm gear that moved the arm around a fixed gear on the shaft which was also fixed to our tower.
The moral of the story simple is almost always equal to better.
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