Our teams elevator is sort of similar to the one above. we used 1010 80/20 pieces to make a 4 stage elevator. It is driven with a rs550 with a 64:1 transmission. We used small pulleys and small woven Kevlar thread (i don't remember the name of it).
For a manipulator we used a gripper made of hockey stick, Lexan and some grip material that we were going to use for minibot wheels. the gripper is pneumatically actuated and is driven by a fisherprice motor and powerwheels transmission.
Here is a video of the robot:
http://www.youtube.com/watch?v=-tLr-NjTA-E
And there are some pictures here:
http://public.fotki.com/mhsFIRST/201.../build-season/
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