Couldn’t decide between using steppers and servos, but I eventually chose steppers for the robot arm. I started with designing a base and a cover for the base stepper. The plan is to use a cycloidal gearbox for each of the 6 motors for 6DOF. I found this reference model of a cycloidal gearbox for a NEMA 17 stepper, and I’m ONLY using it as a reference. I’ll design my own completely from scratch and will use that instead.