6 DOF Robotic Arm (A.R.M.)

Hi

I'm currently building a robotic arm as a graduation project, which I named A.R.M. (Articulated Robotic Manipulator).

I would like to add that I'm following some courses about inverse kinematics and basic programming at the moment.

Some specifications:

- 6 DOF

- Reach: 1 m

- Payload: 2000 g

- Power source: 48-55V DC

- Budget: +- €1500

Progress:

The mechanical design is completed and the robot is being built at the moment.

I've ordered the drives and I'll be buying an arduino soon. 

Problems:

• I've calculated the needed torque for each motor (stepper motors will be used) via static calculation. This had to be done fast, so I've used big margins. Still, I would like a dynamic calculation to add to my thesis. If anyone has tips for this, help is much appreciated! On the Internet I often find static calculations, and I'm wondering if anyone bothers to do a dynamic calculation? I also didn't find dynamic calculators, where there is an abundancy of static calculators (some better than others).
• I'm looking for a cheap gripper of other actuator, but this seems to be harder than I thought.. 
• I'm wondering what the next steps are, since this is my first project. 

Kind regards

Matthieu