This is a long term project I've been working on. My goal is to have a robotic arm which responds to voice commands. I am currently still working on hardware, which is inspired by the robotic arm by Simon Inns. Here are a few photos of what I have so far which isn't too much.
The caster above is used for support and the one below is going to be used as part of a joint.
Here are a few shoddy sketches.
Sorry about this sketch. I did it in my notebook and wrote all over it.