I would like to design a robotic arm to hold a weight X at length Y (in my case I want to hold X=2.5 lbs at Y = 4 inches). Starting out simply, I would like try building an arm with a gripper plus one servo joint.
[Servo Joint] ----- Y ------ [Gripper]
When designing an arm, would I want to say that the gripper has to have enough torque to hold the desired weight (e.g. 2.5 lbs) at a minimal distance (however long the fingers are) then design the servo joint to bear the weight of the gripper + the load?
I would like to be able to hold the object at full extension