Hi everybody, I'm a new member of the forum. I have a question: I'm trying to design a 6 DOF robot, in order to simulate satellite docking at my university… I have some requisites: working area must be not smaller than a 1m*1m*1m cube, the end effector must support at least 100N of force and the joints must provide at least 10Nm… what should I start with? I will use an anthropomorphic configuration, with 3 rotations and a wrist with another 3 rotations, for a total of 6 DOF. The main problem is the motor choice: should I use a gearbox? I was thinking of installing an harmonic drive gearbox, but how do I choose the gear ratio?