Team 95 Bot pic
 

[img]ftp://ftp.crrel.usace.army.mil/pub/outgoing/crrel/dmcole/Grasshoppers_05/DSCN0061.JPG[/img]Here is a pic of our arm mechanism:

ftp://ftp.crrel.usace.army.mil/pub/o...5/DSCN0061.JPG

It's got hip (side to side), shoulder (up and down) and telescoping freedoms. It's strong enough that (with the proper counterweight) I can do a pull-up on the arms 1st stage when it's extended 4ft out horizontally, the telescoping can lift me off my feet vertically and the shoulder can lift me at 18 inches out horizontally. Bear in mind i weight about 145lbs :-D. The shoulder is actuated by 2 FP motors at 9ish volts through a DeWalt transmission on our special battle ax design. The extension is powered by the van-door motor powering a gigantic gear rack and the second stage telescopes via an actual measuring tape and rollers. The hip motion is powered by a globe motor and sprockets near the base (not visible). We use the kit transmissions with all 4 cims, and we're still about 10lbs under :-)