For the gripper I used a Futaba S3114.
For the elbow a S3102.
For the lifting shoulder, a Hitec HS-645MG. For the rotational shoulder, HS-311.
Don't use digital Hitec servos, they break and fry too easily.
I do have CAD files, but they are in AutoDesk format, and unless you have a CNC or mill would be difficult to make.