Cool - I never knew any of the actual 'Rainbow' puppeteers names! Somehow didn't think Skelton operated Zippy as well as voiceing him, as he's known as an actor, and voiceover artist and not a pupeteer.
I wonder if he recorded his dialogue in advance for the puppeteers and cast to act with or spoke Zippy's lines through a microphone off-stage? (The Dalek voices were done this way in real-time from a corner of the studio floor while the Dalek operators trundled the robot props around pressing a button inside to make the dome lights flash in rhythm with the words spoken).
... Come to think of it, this makes a Dalek a sort of puppet doesn't it?? Operated by a person inside moving the gun, famous sink-plunger arm and head, with someone else doing the voice some feet away.
Jeremy