6-axis arm for development and replicable for production purposes.
Targeted payload: 1kg at 1m

Tasks

Completed:

CAD/ Cycloidal Gearbox
Forward & Inverse Kinematics
OpenCV model for vision system (based on colour and shape detection)

Ongoing:

CAD/ Construction of robot in SolidWorks

Later:

CAD/ Grippers (pinch, suction)

Specs:

Payload: 1kg at 1m
Motors: TBD (steppers? brushless?)
Encoders: absolute AMT series 2048 - 16384PPR (use two per link, input+ouput to mutliply resolution?)
Brakes: not required if steppers used
Raspberry Pi Model B Rev 2.0 for processing (Python) (upgrade required?)
Arduino MEGA for hardware control (C++)
2MP camera for 2D computer vision (upgrade required?)