3DOF open hardware Arduino-based robot arm

I've been working on various robots for years now, building up my skills. I finally built my first successful robot arm. It's a 50cm reach version of the ABB 460. I'm looking for other robotics people to help me make more tools to go on the wrist. I've been toying with an automatic tool changer and there's already a wire for a single servo (claw?) and a 12v power source (suction pump?) In the video you can see a repeatability test. about 1mm. I drive too fast and it creates a lot of wobble. I haven't tested the maximum lifting force. I haven't mapped the total range of motion. ceilng appears to be ~30cm from the table. Reach is just over 54cm. Can turn >180 but the wires will be a challenge. Auto homing for calibration is working. Understands cartesian coordinates (inverse kinematics) and gcode. My next robot is going to be another arm with more degrees of freedom.