[ialyos]

Annin AR3 https://www.anninrobotics.com/

Original software for it is a bit hard to work with, improvements in https://github.com/ongdexter/ar3_core

[ialyos]

I've built one and so has someone else, it's a journey, but gets you a reasonably competent arm at a reasonable price.

[lokl]

Looks like it might meet my needs, thank you!