This little arm is made from foam board with a paper outer layer. I designed the parts in Inkscape then printed them out and glued them to foam board before assembly. It uses three micro servos and a Picaxe 08M2.It stands 130mm high and has a reach of 150mm. The batteries are AAA so you can see it is not very big.
Because of the paper and foam board construction it is very light and strong.
You can see two of the servos in the photo the third is in the base.
I'm using a tv remote to control the arm. I can move each servo and then save the position. I can then play back a sequence of moves.
The next task is to try and make some sort of gripper.