Thanks. Well actually I don't have the plans yet. I am required to build an arm with a shoulder, an elbow, a wrist, and a gripper. The load is small since this is just for demostration purposes. But I think the servo at the shoulder has to be the largest because it will carry the entire arm and the other motors. I would prefer servos over normal DC motor because I don't want to get into the building process of driving circuits and H-bridges becuase this is not the purpose of the project. What is your advice? Thanks.