I finished the timing belt system and then designed the head in order to allow a wrist roll mechanism on the end effector.
Because of the tiny amount of space available I had to make it as compact as possible using the smallest gears and bevel gears I could find. I then had to make sure I’d actually be able to put everything into place in real life so created all the required gaps in the head. (I also created the toolhead which can actually 3d print but I have no clue where the recording is and can’t remember if I even did record it).

After doing this I unfortunately had to stay in hospital for 2 weeks so I lost alot of time and focus but now I’m out and I created a sort of roof for each joint with cantilever clips that will snap into each wall and connect them together. These have holes which will carry cables and give the arm a much sleeker look.