[Qbranch]

Bzuhhh... Just making sure... In your conceptual post you're ok...

But as stated above (and its so important i'll restate it) F is a force. Hp is a rate of energy conversion. 2000RPM is a speed, while 2000RPM/s is an acceleration. 2 lbs is a force, while 0.0622slugs or 0.9072kg is a mass.

And, to reaffirm, yeah the rotational inertia of the AM gearbox is negligable... as well as the rest of your drivetrain (unless you have some gigantic flywheel your storing energy in). Just worry about the mass of your robot.

-q