Just an off-the-wall comment about the general approach. Every robotic arm I see mimics human structure - upper arm, elbow, forearm, wrist, hand. I wonder about trying something fundamentally different, and in some ways simpler - instead of discrete arm parts, have a series of identical parts that each provide a small amount of motion, ending up with a sort of snake or tentacle effect with a gripper at the end. Is that even possible? I'm thinking that if the goal is to have an arm that can assemble another arm, a repeating structure might be simpler to achieve.