Experimental robot arm with 4 DOF (Degrees of Freedom) plus actuator (gripper). Frame made of Lego Technic parts and aluminum sheet. Robot Gripper made of cheap Turnigy TG9e (3) servos ($1.99 each at hobbyking.com), elbow and shoulder use HiTec Servos. Parallax Propeller Proto Board used to generate the PWM signals for the Servos. A custom spin object was written to generate orchestrated servo movements with gradual acceleration and deceleration (obex.parallax.com/object/224/).