Made parallel linkage mechanism and timing belt system. I started by making the system where a servo can control the end effector and then adding gaps in the linkage bars so that they don’t hit the end of screws. When i finished making that system I tried finding a way for the Feetech SCS0009 to be able to do the wrist roll and I spent quite a few hours on that until I realised it doesn’t even have enough torque so I would need to have a stronger servo for that. I decided on the Feetech STS3215 because that’s what all the other servos are so it would just be easier. I had to have it attached to the main frame and then I looked at some different ways I could control the wrist roll remotely, deciding on a timing belt drive system because parallel linkage mechanism wouldn’t fit. Making the timing belt system was super hard because I had really small amounts of space to work with so needed the smallest parts possible like the pulleys and the timing belts as well as the ball bearings and then have them all be screwed/connected to the main frame.