The current Joints have a diameter of 140mm. My plan is to have 2 sets of Joints where the first 3 Joints are 140mm 120:1. Then I will make the last 3 Joints 110mm 75:1. This will give a balance to the look of the arm, This is also good for conserving weight. If all of the Joints were the same strength It would simply be a waste of materials as the arm is only as strong as the first Joint. This will be a very difficult design challenge as my Strain wave gear cup encoder design is not as easy to scale down as it is to scale up. Ideally the design for these Joint will only take a few weeks as I have an idea of what I'm doing already.