Hello everybody. For a future project, I'm gathering informations dealing with articulated arms. As I don't have any engineering background, Your knowledge will be precious. I discovered the JACO robotic arm. My question is about the articulations of this arm. How are they engineered? I guess stepper motors are used but how are they integrated in this elegant articulations? The design feature I' m interested in is that motors are not moved back off the arm. They are in the same axis than arm segments. How do we achieve this? How things are made, in order to prevent weights to be supported by motor shafts? Forgive my "newbieness" and my english. I hope I have been clear enough. Thanks for your replies!