1.) FP has a Torque of 0.45 Nm, which is equal to 3.982 in*lbs.
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3.982 in*lbs x 1,500(gear ratio) = 5,973 in*lbs
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5,973 in*lbs / 150 lbs (weight of Robot) = 39.82 inches
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15,600 RPM / 1,500 (gear ratio) = 10.4 RPM
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10.4 RPM / 60 seconds = 0.173 RPS
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0.173 RPS * 5 Seconds = 0.867 of a Revolution = 312 degrees
2.) 30-36" Four-Bar-Linkage Arm (assuming you have a ratcheting mechanism to prevent you from slipping)
That is my guess.
-Clinton-