This would make a fine foundation for a small Boom Crane. Replace the Gripper/Suction axis with a Hook and Line. The Parallel Arms would perform the Boom/Jib functions. Replace the end with a TIp sleeve and run a line to the Base, where the Winch would be installed. Rotating Base is nice. It's far more flexible than required, but nevertheless a great starting point for a design. My intended purpose requires about 10meters of line that could lift 200grams partially extended.
You guys are modest and haven't plugged your kickstarter campaign in this thread (if you did, I missed it). But, honestly so many will be using your design and code, so it's a good idea to let other hobbyist know how they might support your efforts. (If linking ot kickstarter campaigns is forbidden, my apologies).
https://www.kickstarter.com/projects/ufactory/uarm-put-a-miniature-industrial-robot-arm-on-your?ref=live .
Nice work gentlemen.