Actually the mesa cards are quite capable from what I have seen and read. The information on them can be found on their website Mesanet.com. My card the 7I77 can control up to six axis simultaneously and has quite a bit of I/O on it too. Dunno what the hell kind of machine you are building that needs 85+ I/O points but damn it must be awfully complex. However my 5I25 7I77 combo setup can be adapted to additional daughter cards to add more I/O and then you can use additional cards via modbus as well as parallel port if you need it because the 5I25 is a PCI card leaving the rest of the peripherals open. Whether or not your computer is up to the task is another question.
You can read a lot about the mesa cards on the linuxCNC forum page under the pncconf header which is linuxCNC's attempts to interface with the mesa cards. Lots of options and as far as I can tell basically if it can be controlled, it can be controlled with mesa/linuxCNC. That is up to nine axes and that includes capability to run hexapod style machines. The information is out there you just need to decide which direction you need and what type of encoder feedback you need to use to determine which mesa cards will work for you. Each card basically has a downloadable manual if you are not sure and Peter over there is quite knowledgeable, imagine that another very smart Peter LOL.... peace
Pete