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It uses various DC motors. The base rotation motor is a 24 volt gearhead, the main arm lifting motors are two 12 volt gearheads, the "elbow" motor is a 12 volt which drives a series of spurgears via a rubber drive belt and the wrist rotation motor is 12 volt worm gear type.
The parts came from various sources mostly from junk parts i had laying around or from trades i made with other builders and some came from on-line surplus outlets, so it cost very little to build ( so far).