It all depends on the precise tasks you're trying to accomplish. I'll cover some of 116s arms I'm familiar with.
2001- pneumatic shoulder joint raised arm from folded position into scoring position. Motor controlled elbow and wrist joints. The gripper was also actuated by pneumatics. Placed large balls on goals, as well as folded up to fit under the bar.
2004- Globe motor powered shoulder. Pneumatic extension. Pneumatic gripper. Could place large doubler balls as well as hang on bar at end of match.
2005-Window motor powered winch. Pneumatic extension created lever for winch. Pneumatic gripper prevented tetras from flying off of arm. Arm could manually load tetras and score on any goal.
2007- 2x Globe motors power shoulder. Pneumatic wrist actuation, and pneumatic gripper. Surgical tubing powered single-time extension (fires when disengaged from locking mechanism at beginning of each match, then locks in extended position). Picks up tubes from ground and scores on all 3 levels of the rack.
