Where can I find a website that gives ideas and tips on how to build a robotic arm (unpowered)?

I am building a robotic arm for my Engineering class and I am required to create a design process paper on it. For my research section, I need to find a website that contains information on robotic arms (unpowered, no motor/battery). This website could contain anything from tips and hints, to how a robotic arm functions. Any help is greatly appreciated.
I am especially looking for ideas on how to model the robotic arm gripper.

Are you looking for something like this?

http://www.societyofrobots.com/robot_arm_tutorial.shtml

And they have a calculator-

http://www.societyofrobots.com/robot_arm_calculator.shtml

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