[rsd53]

Ok, that helps. If your servos don't have metal gears, get some that do.

If your servos have metal gears, you I would look into getting, or building some type of dampener. In my mind, I'm thinking of something like a shock absorber with just a spring inside. Or you might try a regular shock absorber. Either way, you would use replace/modify the links between the servo to bell crank.

The other thought I had was to move the links on the servo bell crank closer to the servo output shaft. That way the torque seen by the servo would be reduced. The down side is you'll have a bigger turning radius.