I have been building a 6 DOF Robotic arm by reverse engineering the ones found on eBay. The only new part is the lazy Susan at the base. That base looks a lot better than the ones on eBay. All the other parts were laying around left overs from my Humanoid robotics projects.
Here is a video of it running with a Raspberry Pi.
This video is of a Raspberry Pi running it with a PCA9685 controller.
Here is the Arduino powered setup video, YouTube has made it difficult to embed a video....