I am making a robotic arm with 4 degrees of freedom

Projects General Guidance
1

I already have the code, but which servos do I use for up to 1kg loads? The code is working fine.

2

Please present a drawing of the mechanics showing arms, rods, estimated torque etc

3

It's all a mater of torque:

https://www.grc.nasa.gov/www/k-12/airplane/torque.html

4

Thank you!

5

It can get complicated.
You are welcome.