Design of stepper motors for gripper arm

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Hello there,

I’m new to the forum and would like to ask for advice on a project that’s ambitious for me. I would like to build a gripper arm which should consist of Nema 17 motors and a Nema 23 motor. The arm should be able to reliably lift 500g with a total length of 50cm at a good speed (see sketch). The arm itself will be 3D printed from PETG. Now to my question. For the main axis, on which the entire gripper arm hangs, I chose this motor with 20Nm torque: https://www.oyostepper.de/goods-306-Nema-23-Getriebeschrittmotor-mit-4-1-Planetengetriebe-042-Grad-125Nm-28A-26V-Nema23-Getriebe.html
I need advice on whether the engine has enough power and whether the gearbox doesn’t make it too slow. I have concerns about the Nema 17 motors (59Ncm), which also have a bit of mass.

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Hello @jerry22 and welcome to our forum.

I am glad to hear that you are building your own robotic arm.

For the calculation, maybe you can have a look at this tutorial and calculator:

Based on it, you could calculate the torque needed and based on it you can choose appropriate motor.