It's in cm. Below is a new image with some descriptions:
1- The base of the robot. It will be attached with 4 omni-wheels. Uses 2 DC motors to move perpendicularly .
2- I don't know the name of this mechanical "lift", but here how does work. There is a motor at the bottom of the zigzag connected with a gear that is connected to a bar like a screw connects a side of the zigzag with the other side. When the motor starts, the bar rotates and the zigzag sides becomes gradually close to each other due to the washers on each size. When they become close the length zigzag thing will increase and that will increase the robot height.
3-This is a circular plate which is connected to a servo so it can rotate.
4-(shoulder) This part is a like a beam which holds the arm. It's connected with a servo so it can rotate 90 degree.
5-This is a joint. There is a servo there so the arm can rotate 90 degree.
6- finally, this is the hand of the robot. It has a motor so the pincers can get close to each other to grab things.
I'm sorry if the description were not good enough but I'm a beginner!!
thanks a lot!!