I am building a robotic arm with the next specifications(talking about the arm it's self):

• 1 meter lone
• aprox. 1kg weight
• it is made of 4 motors(2 at the base. One for rotating the hole arm left and right and another one for rotating up down. 1 motor for rotating the second half of the arm, only up and down. 1 for the claw used for grabbing)
• it must be able to lift at least 4kg + 1kg(it's own weight) and have a speed of 180 degrees in 2 seconds = 360 degrees in 1 second resulting 60rpm

Which kind of motor would be better for the project(servo or stepper) and what torque should it need(please also give me an explanation of how I can calculate my self the torque needed). Could you also give me an example or two of the motors I would need and/or a gearbox for them(Models or links)

By the way I would pay about 200 euro for the motors(only 3 of them.. I already have something for the claw, so 3 motors + gearboxes at about 200 euro)

I am building a robotic arm with these specifications:

• 1 meter long
• approx. 1kg weight
• it is made of 4 motors. (2 at the base. One for rotating the whole arm left and right and another one for rotating up down. 1 motor for rotating the second half of the arm, only up and down. 1 for the claw used for grabbing)
• it must be able to lift at least 4kg + 1kg  (it's own weight), and have a speed of 180 degrees in 2 seconds = 360 degrees in 1 second resulting 60rpm.

Which kind of motor would be best for the project  (servo or stepper) and how much torque will it need? (Please also give me an explanation of how I can calculate the torque needed). Could you also give me an example or two of the motors I would need and/or a gearbox for them  (models or links).