Thor is an Open Source and 3D printable robotic arm with six degrees of freedom developed by Ángel Larrañaga Muro from Madrid, Spain.
Its configuration (yaw-roll-roll-yaw-roll-yaw) is the same one that is used on most manipulator robots that currently exist in the market. In its upright position, Thor is about 625mm and it can lift objects up to 750 grams.
Here is the video showing Thor in action:
Here is the CAD animation of the assembly process:
You can get all the files and learn about Thor at: