Just published v0.2 of the MeArm. Entirely redesigned by Jack Howard. It's a leap forward from the last version but still needs some work and we're currently having at the following improvements:

Adding central support to take the strain off the servo arms.
Moving parallelogram mounts backwards for wrist stabilisation
Reducing weight from claw and forearm.

DXF here: http://www.thingiverse.com/thing:293707

Could do with some tips for software that generates stl files. Once those updates are made I'd really like to see a 3D printed version. Is an A4 envelope common in 3D printing? I know nothing about 3D printing.