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I'm still wanting to build a rolling desk myself and have some components already, but you might want this: Humanscale M10. It's pricey but it's the heaviest-load arm on the consumer market. It can take 48lb, and if that's overkill, they have cheaper arms that will carry less. You might find some of the cheaper brands will do what you need without the cost, but I don't have experience with them.
Skip their expensive crossbar adapter though, you can use any much cheaper VESA bracket adapter, you just need the arm itself to be solidly constructed.
The real issue for the design you have in mind though is center of gravity. You're stuck with attaching it to something very heavy and wide. I'm still in the early stages of fixing that problem myself. My solution is likely to involve significant amounts of V slot aluminum profile.