Ok, thanks airman00. I'm working on an arm. almost done with the design I think. The arm itself wasn't so much the tricky part, but figuring all the weight for servo torque, and designing the gripper. I'll post the gripper design later on at home (@ work now). Thanks again for all the help guys.
also, has anyone ever used Eurgle servos before? I was eBay'ing servos, and came across some for reaaal cheap. I wouldn't think that they would be to good at $1.37 ish for 107 oz-in torque.