With the detailing of the model it is now clear that due to the weight of the arm (current conservative estimate about 8 kg total) I am going to need more power to drive joint 1. With a bit of investigation I found that a 3 Nm Nema 23 motor is readily available as a direct drop in replacement for the motor I was planning on using however it will require a higher amperage driver. In addition I have dropped the size on the joint 5 motor to 0.25 Nm as driving through a 4:1 ratio on a 100 mm arm will just handle the target load. If you haven't guessed by now I plan on running the steppers at the absolute limit of their rated capacities and maybe a bit beyond, I don't want to have any potential performance unused.