Give a better (complete) definition of the problem and someone may be able to make a suggestion.
E.G. able to lift 5kg in a day, an hour, a minute, a ms etc. by a km, a meter, a centimeter etc., time and distance are really important.
No because you need to define about 8 or more variables like power , torque , RPM ,size , cost ,peak acceleration, max velocity, peak/avg power supply limits, gear ratio. Use Grade XII Physics E=1/2 mv^2 = P*t
Some are redundant. like P=V*I and acceleration = dV/dt controls peak current. which can be 10x rated max power