I have just rigged my model Yaskawa MOTOMAN SDA20F. uploaded.
What do you think?
Robot Yaskawa-MOTOMAN SDA20F-Rigged
It is the largest in its series with a load capacity of 20 kg per arm and 17 joints. all joints can be moved via armature (bones). also the Robotiq two finger grippers. the grippers are moved with just one bone, the individual elements of the gripper are automated. a pose library is already set up so that you can start animating right away.