Manipulator designs

[Max Lobovsky]

What are some general designs for joints, hinges, etc on a FIRST robot? There are numerous white papers on drive train designs, but very little information on designs for the rest of the robot. I know the game changes every year, but almost every year has a couple of things in common, so this seems like a pretty important thing to be so severly omitted.

For example, I would like to know how teams have created "shoulder" joint for a large arm that under goes large torque in the axis of movement and in other axis. Or, a "grabber" joint where two parts of the manipulator are brought closer together.

Are there any good threads, websites, or even pictures for information like this?