Here is another robot arm that offers smooth rotation on each axis. Jaco2 has a payload of 2.6kg. It has 6 degrees of freedom and max reach of 900mm. Jaco2 is made of carbon fiber. Its gripper has 2 or 3 fingers that can be controlled individually.
Jaco2 can be controlled with a computer or a 7-button joystick. Its fingers can adjust to objects of various shapes.