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This post talks about how to calculate how strong a servo needs to be for a robot arm:http://www.societyofrobots.com/robotforum/index.php?topic=91.0And this tutorial will help too for robot arms:http://www.societyofrobots.com/mechanics_statics.shtmlAnd this one should help with calculating how strong the servos need to be for the wheels:http://www.societyofrobots.com/mechanics_dynamics.shtmlIts a little math heavy, but its the only way to answer your question . . .