They motorized a Kopf manipulator and used CNC software to control it. I like the simple mechanics. Here’s one of the parts used to couple the stepper motors to the manipulator:
They use a standard 3-axis CNC stepper driver board.
They have some of their own software, to simplify the interface:
I wouldn’t be surprised if this could be put together rather quickly. Drop the part drawings off at your machine shop, order the other parts online, and then in a couple of weeks once everything is in, spend a day assembling it and working out the software. It’s a nicely documented build.
(Hat tip to ITS)