Arm Robot

A servo controlled arm robot I made after seeing some nice servos on Aliexpress. The Arm has four servos and the gripper has one small plastic servo. The robot is controlled by an Arduino Uno mounted on a base plate hidden in the robot base. This was a very fun project to make.
See video: http://youtu.be/kxjjVPYn-dg?list=UU2xIrj2i0tUdzQWHZC987zw



Instructions
I got the idea to make this robotic arm after seeing these servos on AliExpress.http://www.aliexpress.com/snapshot/6109088089.html
After I had ordered the servos I made a 3D model of them from the drawing on their web page and then started to design the robot parts with 3D printing in mind. I had no 3D printer at the time so it was all very theoretical. I use Rhino 3D by the way. Finally my servos arrived and I also got my Flashforge Creator X.
The base for the robot is too big for the 3D printer platform so I had to slice it up in 3 parts. I used ABS with 10% infill on all part except for the base tower (top part) that I wanted a bit sturdier, so I used 25% infill for that. When printed, I chemically welded the parts with ABS dissolved in Acetone (the yellow stuff in the glass jar in the video).
I also made a little base plate for the Arduino Uno so it could be hidden nicely in the base.
When the arm was done and tested I started to make the gripper. It is using a small almost free little 9g plastic servo and hence it is not very strong. I also realized that if closing it around an object forcing the servo to try to reach its zero position, it easily breaks (plastic gears get stripped out). With that in mind I added a micro switch that senses when the gripper has closed around an object and tells the Arduino to stop turning the servo (see pictures). Maybe one could improve the construction with flexible (rubber bands?) grippers or something. Any ideas are welcome.
All in all, I am pretty happy about how it turned out, it was fun to make and has just cost me around $60 in parts and a third of a spool of filament.
I you make one, please please post pictures and videos of it! I would love to see how yours turn out :)