not that Im aware of.
you have to know what sort of DOF are required.
a gantry is the easiest to design and implement, but allows the least manipulation.
if its a traditional arm, you need to solve the kiniematics. matlab(octave/maple), calculator and a lot of paper.
I can do that for fun if you send me a pm with the details.
as for power needed, there is a robot arm calculator thing in the tutorials section.
