@cypnk If you can add an encoder for closed loop control, this allows the power to be ramped up as needed. The "Mechaduino" has a neat Hall Effect encoder (AD5047D) combined with a stepper driver that fits on the back of a NEMA-17 motor.
@cypnk The big problem with steppers in this sort of application is that they don't have much holding power. The weight of the arm and any payload will require a very high current to prevent skips, which causes the motors to become really hot.
@cypnk the first three axes of the puma 6dof arm might be easy to redesign, although the last three in the wrist would be a challenge.
@laura sometimes visiting the appropriate wikipedia page is the easiest way to type those special characters. https://twitter.com/graemecoleman/status/1098253794691944448
@yuki_is_bored it's a sofa being lowered out the third floor window.