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Speed Needed For Good Motion
The speed needed for good motion is a bit subjective and is significantly affected by design choices, but general wisdom suggests between 150-700mm/s http://www.xsimulator.net/community/threads/minimum-rpm-needed-for-a-2dof.7009/
Check here for a guide to working out linear speeds and forces for different motors, gear ratios and levers: http://www.xsimulator.net/community/faq/calculating-basic-linear-speed-and-forces.89/