@dave the reason the servos make noise is the motor physically resonates at the frequency the servo driver runs at. 300hz If you replace it with a higher end high frequency driver 20000-40000 then the sound it makes is is ultrasonic. I have read about several people making custom motor drivers for that reason. This isnt super easy

I love the gearboxes , they are great ! You could use a gearbox for the degrees of freedom closest to the body and tandem servo for mid joints. Math is your friend so calculating torque needed helps you plan.

My bad ! I forgot to answer the question about programming. If it has a servo reversing option it should act the same as the rewire. You can test it and see if it is the same , if not then manual rewire is needed. When they change settings on servos the manufacturer expects you to have trim control for adjustment.

Anyways if you have not already bought the digital servos you could get strong analog servos to reduce noise and the servo city gearboxes to multiply torque. A 5 to 1 gear box gets you 1200 ounce inch torque from a 1501mg

Justin, errr, I mean Josh,

Thanks again for taking the time to assist. I'd love to use a analog servo but I'm having trouble finding a quality name brand analog servo over 450 oz-in that will fit into servo City's Gearbox. I'm not sure but I think these gearboxes will only accept Hitec standard size servos without modifying the gearbox but I may be wrong.

@ dave , ive tried , power hd , pololu , tower pro , futuba and hitec standard servos and they all just dropped in from the bottom. I have the "surface mount" version. If you are using a gearbox and a tandem setup you should have a large amount of torque to play with.

Wow, thanks Josh. Great that you have one of these gearboxes to play with. So I know how to proceed, which one of these are you using?:

Bottom Mount servo Power Gearboxes (With Potentiometer Feedback)

Gearmotor Gearbox (open loop made for DC motors)

I want to keep everything "inline" so I'll try to use the proper "L" brackets, servo City's channel and the Channel mounted gearbox. This design will help me save space. I only have a 4 &1/2" opening that this arm mechanism will be sliding in and out of. Even if I use them in tandem I should be able to do this. Once the arm is fully extended the elbow and wrist joints can move around in the wanted directions. Here's the type Gearbox I have now and am hoping to use:

Actobotics channel mount servo Power Gearbox

@Josh,

You mentioned earlier that to get rid of the "whine" in digital servos I could actually remove the driver and replace it by "implanting a mosphet driver running a much higher frequency 20,000 hertz or more." So by this do you mean to actually remove the circuit board and replace it with a motor controller with specs at or above what you state? If this is the case I think your talking about a motor controller like this?:

Pololu Jrk 12v12 USB Motor Controller with Feedback

It states one of the features is "Ultrasonic PWM to eliminate switching-induced motor shaft hum or whine."

@Dave , Yes! That is an excellent example of a ultrasonic motor controller. This one is usb programmable and accepts either TTL or RC servo inputs so this is a very beefy controller. servos benefit from higher torque with higher frequency pwm too. The obvious drawback is cost but pololu doesnt sell any duds.

You would literally replace the original driver in the servo with this ultrasonic driver.

https://www.servocity.com/html/robotzone_servos.html

i have the top mount gearbox but channel mount may be best for your B9 arms.

Thanks again Josh. You really don't have any idea how much help you have been. If my B9 has any kids I'll make him name the 1st one after you!