This was a project completed for Kinematics and Dynamics of Machines. It was inspired by the U-Arm from U-Factory with a little bit of a twist; instead of sitting on a desk it hangs over top of it! The arm is controlled by 5 servos: 3 large MG995, 1 9g Micro Hobby servo, and (depending on your selection of end effector) another MG995 or hobby servo. The original concept incorporates laser cutting and 3d Printing because my Printrbot only has a 9in bed and the longest links are 11 inches long. The DXF can be extruded out .112 inches and you would have all of the parts if you wanted to do it solely by printing, but i have not done this myself. The Bill-Of-Materials.xlx file shows what I used when building my arm, all of it was purchased from amazon. I didn't provide links but the general description is pulled form the amazon page so finding them shouldn't be hard. video of it playing with cups: https://www.youtube.com/watch?v=K50qWeUVPHg&feature=youtu.beThe arm is held together by M3 screws. The screws are locked on mostly by threading them into the undersized spacers. there is a PDF provided with a better view of the arm that will hopefully help in assembly. The arduino code is provided in the download. it is written to control the arm using a Wii Nunchuck through the library I found here: https://github.com/GabrielBianconi/ArduinoNunchuk/blob/master/ArduinoNunchuk/ArduinoNunchuk.h this is just one way to control the arm ( easiest one I could think of with minimal arduino experience ) so feel free to have fun programming something yourself