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Hi Lukas,
for this size and weight you definitely need geared joints. Take a look at
what Ben and Eric suggested. Read this by Eric.
In addition read what
Christopher Snead wrote on Mecha Hub.
And finally Ive a few links of my own which might help:
A last tip is to try, try, try. We all do that know and then. Its never as
easy as it looks in the finished MoC.
Have fun
Marco
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