I'm designing a 3D printed robot arm that doesn't suck. It uses all brushless outrunner motors for at least the 4 large axes (final two in wrist may be hobby servos for now). The arm is similar dimensions to a human arm. Initial calculations show it will be able to lift more than 2kg at full extension if I can make it strong enough. Actually the (rough) calculations say more than 10kg but that would break something.…
Low cost arms (eg. dobot) have "0.1mm repeatability" with no load but the moment you put a kg on the end effector it starts flexing.