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Cylindrical coordinate robot

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nidahas

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I am trying to make a cylindrical coordinate robot , with a grip (open and soft close functions) for 100 gr load. The arm is connected to a base that rotates 360 degrees. The arm moves as telescopic 0-10 cm, and up and down (Z
axis) 10 cm.
I am confused about my choice of motors...the more i read the more it becomes difficult for me to decide between servo and stepper with encoders.
and i am also shaky on calculating the torques .
kindly give your expert opinion.
 

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