[Ryank]

well yes and no. I believe what you want is in inventor, but you have to remember that unless you set your materials (of each part in the assembly) in the CAD, the thicknesses of the materials, and the exact dimensions of all parts of the arm you are going to use you could get wildly over or under estimated torque values (the default material is abs plastic or something I forget, but it's gray and bland). I think if you have access to autoCAD you can take an inventor file and do stress testing on the assembly under load too. But my helpfulness here is admittedly low because I don't actually remember how I used to use either of those functions.