I got the motors for the shoulder and the elbow joint running. This thing is quite fast, and strong. I'm now working on the redesing of the other parts and the gripper. I hope I can grasp and move something very soon.

You can download the new shoulder here:

http://www.thingiverse.com/thing:639325

But I recommend to wait a little bit I had some troubles with the cable guides.

The very crude Arduino sketch can be found on github:

https://github.com/4ndreas/DummyRobotArm