My previous robotic arm couldn't move fast enough to intercept standard table tennis volleys, so I wanted to design a lighter and more responsive robotic arm. I replaced the heavy stepper motors with lighter BLDCs and added cycloidal reduction to increase torque. Motors were placed as proximal as possible to minimize the required torque for the lower motors. I used ODrive with the BLDCs for motor control, and I had to design a new pipeline for information from camera to controller. The main body is designed around a parametric skeleton, meaning link lengths can be changed in the model by changing carbon fiber tubes lengths. After initial testing is complete, I can use the torque equation to optimize link lengths.