Nutball

4 New Hyperion DS20 UMD programmable digital metal gear double bearing Low voltage (6v/4.8v) servos. I have not mounted all of them yet, but decided to use a different servo. I test lifted 15lbs with one of these. I made one voltage reducer to be able to use them with a 2s lipo power source, I can make another if you want, it powers 2 servos from 2 inputs separate or the same. They say max unloaded voltage is 7.3v or 7.8 at the most, max loaded voltage 6.5v.

stall torque: around 325oz 6v
dynamic torque: 190oz 6v
speed: .23/.18

$120 for all 4

$10 for one voltage reducer, I'll need to modify it a little for safer operation, but v1 does work so far.

They have Futaba spline, I have metal arms that will fit if you want. $5 for a 3.5" twin arm