These are some brackets I created for an Dynamixel MX-64 based arm. Adding an arm roll joint is traditionally tough with the available off-the-shelf brackets. More discussion of Maxwell (the robot this arm resides on) can be found on my blog: http://www.showusyoursensors.com/2013/02/movenit.html ROS drivers, code and assembly instructions are on the GitHub project: https://github.com/mikeferguson/maxwellYou'll need some very long (15mm or longer) M2.5 screws to attach one of these brackets to the back of an MX-64.