After having limited success trying to intercept ping pong balls with my old robotic arm, I set out to design a lighter robotic arm. The first thing I did was drop the heavy stepper motors in favor of lighter BLDCs. I would use a cycloidal gearbox to increase the torque and make everything parametric for tuning. Next I designed the main body around a parametric skeleton. The limbs are made of carbon fiber tubes and motors are placed as proximal as possible to minimize the amount of torque required for the lower motors to exert. I am currently in the process of optimizing the skeleton via the torque equation. Once the optimization is complete, I will start procuring parts and assembling the robot.