[6510]

Here is that animation you've never asked for.

https://img.go-here.nl/unwiggle.gif

One could put those in series too and get even less range of motion in exchange for less wiggling.

One could also duplicate the contraption on both sides. Then could replace the arm with cables (under tension) and control motion further down the arm.

Furthermore it seems you could remove the motors from the moving parts?

Ill let myself out.

[nine_k]

Motors inside the big body and limbs actuated by series of strings is like many arthropods are powered. Evolution approves!

[6510]

You could also control the tension of the wires and have accuracy on demand without the wear. I have this mental image of a darts player moving his arm back and forwards to smooth out the tension.