The original set-up for our arm was created for a device designed to aim satellite discs. As you can see in the video, it was very slow (but accurate), but after some major adjustments, it is considerably faster:
http://www.teampyrotech.org/?p=787
http://www.youtube.com/watch?v=2vu3-q3rmcY
(Look at the clock at the corner to see the length)
Any support/comments would be greatly appreciated. 
dont you just love/hate gear ratios? very nice design, any progress with a manipulator? I dig your ‘shop’ too, amazing how much dedication and passion goes into these things.
We have a temporary one (it may be used in competition, because it does work). You can see it here:
http://www.teampyrotech.org/?p=812
http://www.youtube.com/watch?v=MtoJmj_4ZqM
so simple yet effective! best of luck with your competitions this year, seems like you guys have a stellar bot. cheers