SB- checked out the Stage 6 (Divx) site and the quality is loads better than YT. hopefully that is the future of online video.
I used the following site a couple times and it worked alright:
http://vixy.net/
You input the URL and it turns it into a clickable link which you can then download. I'm not very tech savvy so I don't know the requirements, etc. I just know it worked for me the few times I tried it.