6 axis robot arm
I sort of built this robot from the middle outwards. Its made from a lot of scavenged parts. Many of the parts are from industrial chart recorders, some of them are from inkjet printers, its quite a mix. In total is has 6 axies (gripper inclusive) with the gripper itself being a 9g hobby servo. Each of the stepper motors has an optical interrupter to find its zero location.