Cool stuff! Some questions:
- Looks like pneumatic cylinders are being used to offset the weight of the arm, and you switch them from push to pull depending on what side of the robot the arm is on? Clever. (Edit: doh, nevermind, I see you already described it, and should always pull the same way)
- Are those black brackets you use to connect the chain and cable ends off the shelf parts or fabbed?
- What's the mystery material you have lining the edge of your gripper, and how well does it grip? We're still in the hunt for a good material.
- What's with that big metal truncated icosahedron in the background?
Thanks for posting your build, it's fun to follow.