For the 2011 year we built a three jointed arm: shoulder, elbow and wrist. The picture below shows them fairly well -
http://team1912.com/photos/mediapage...ach11/_h21.png
From that year we learned 3-jointed arms are probably not the best idea. (although i dont doubt that effective ones can be beautifully made). We could have built something with less degrees of freedom that would have weighed less, been easier to control, and operated in faster and safer mode. It was a hard learned lesson and I hope we don't make similar mistake any time soon.