With recent lunch breaks this week, I've managed to create the 3D model for Curiosity's wheels and I've started to model the robotic arm. I've got some rough dimensions and diagrams to work with, and these have proved useful. However, these diagrams only give basic lengths, nothing detailed about the size and shape of the actuators.
This is going to take a while to get the robotic arm right as I'll be using photos taken for tests at JPL. Then, once I'm happy with the robotic arm, I'll think about starting to 3D modelling the 'hand', which from pictures and diagrams looks very complicated.