Click here to go to the
video page which shows
the 3 programs it runs
The prop uses 3 air cylinders and 1
rotary actuator the arm movements.  
The cylinders are plumbed to 24Vdc
5-port solenoids which are in turn wired
to a Parallax SX-48 proto-board.

The SX48 program can be downloaded
Pneumatic arm beginnings