What Delirium said I think is correct - I'm not really going to be willing to give a GD a % of revenue when my app could take a month of every day after work development, and you can finish your graphics in a weekend (icon & splash screen & 512x512 icon & file formatted screen shots).
Now, if your doing all the assets for a game, that's another story. Games are very art asset heavy vs a utility app (typically) so in that case you could possibly negotiate for a % if the developer doesn't have a budget.
In terms of calculating your %, decide on your hourly rate * time to complete (your total cost). Then you and the developer would have to estimate what sales would be (heh, good luck) and then calculate some sort of %. That's one method.
There is no silver bullet to this question - it totally depends on the time it takes you to complete the artwork, plus the time the developer takes to complete the app, plus the projected sales.
Cash is king dood, just get paid upfront. If the app is successful and you did good artwork, you can charge them more next time and I'm sure you'll have repeat business from the developer, because as everyone knows, good, dependable contract work (and workers) is hard to find.
Good luck!
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