Okay, I've stripped out all the wires and am starting anew. I've got the mini serial servo controller (MSSCII) controlling the wheels and speaker <beep-beep>. Well the MSSC's not controlling the speaker... it's being beeped by the Stamp.
He looks a bit wirey though The Ultimate TABLEBot
The gripper is made from 2 micro servos, E6000, coat hanger wire and "Bake and Bend" Sculpy. Neat stuff this Sculpy, you cook it at 285 for 30 minutes or so and the material is somewhat pliable. Yes you can break it but it's not brittle like regular Sculpy.