To Arms

No not a battle cry but what good is a robot with out arms if you noticed Robbie has a arm but with the AX12 servos and springs it can barely move and the shoulder lift servo will over heat quickly even with out the extensions. The price of larger servos is not an option. The torque required for a arm 90cm long to lift a 2 kilo object is over 1000 Kg/cm for the shoulder lift joint. After a bit of research i think i will use stepper motors at least i can start out using some of the old stepper motors and gears i have lying around. I plan to use the steppers for the first 4 joints in the arm at the moment just using motors from a old printer and a arduino to interface with ROS