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Articulation on him is GREAT. He's got a double/extendable shoulder joint so there aren't any clearance issues without sticking his arms out all the way, double elbows as well which is pretty obvious.
He has a pretty capable ab joint, though it's one of those unsightly ones where it's pretty much just a joint connecting his upper and lower halves together rather than trying to make it seamless.
The legs have no problem swinging out all the way forward or any other direction, and while the knees only bend 90 degrees you can kind of bullshit a 180 degree knee bend using a separate joint in the middle of his thigh that's used for transformation.
The ankle joints are pretty elaborate, and you can use them to extend his feet out to help try and avoid clearance issues between his legs and feet. And the way the feet transform makes them pretty articulate, his toes and heels can be folded up and down fairly far to accommodate various feet placements.
The joints on him are of various tightness, and I say that mostly because some parts were way too stiff out of the box and needed lube, but all the joints on him are perfectly strong enough to hold up any poses (even after adding some lube to make them move more smoothly) Pretty much everything on him that can move in robot mode is on a ratchet joint, except his thigh swivels for whatever reason.
My only gripe articulation-wise is that I wish he had more of a wrist joint that just a swivel, for his size it feels like his wrists are missing a hinge joint. Still, I managed to get a halfway decent Iron Man pose out of him, though I couldn't get his fist to touch the ground.
