The Kauda Robotic Arm is an open source project linked here created by Giovanni Lerda. Using a 3D printer, I printed all of the parts necessary to build one myself. I used CAD to create more optimized models for some parts, including an upgrade to high torque stepper motors at the base. 

The arm runs off of an Arduino Mega with a CNC shield mounted on top. In total the arm uses 4 stepper motors and 2 servo motors for motion, allowing for rotation on 5 different axes.  The arm runs off of software I wrote myself. There are 2 programs, one which is a repetitive for-loop that moves all the axes set distances forward, then set distances back. The other software runs on user input. Based on the user input, the software decides which axis to move and the distance to move it by.

To see the arm in action, scroll to the bottom. There is also a Gif to the left of this text that should be playing, but may take a while to load.