i will also advice you to have a look at owi 535 edge arm kit. its sold below $50 nowadays. i am also working on a robotic arm project based on this arm kit. i already coupled the arm with arduino. managed to make it work remotely by a second FIO hooked onto Nunchuck. i can provide some pics, schematics and code if you need help.. details on my robotics page at http://borsaci06.com
regards...