Today I worked on the base. When making the belt ratio, I accidentally flipped the pulley belts to make it a speed 2:1 instead of a torque 1:2, so I had to redo it which took a while. Once I was done with the base, I attached it to the rest of the arm and it looks good. However, I did realize that a cantilevered motor holding up the weight of the arm (the wrist rotate) is bound to break, so I have to find out how to add a bearing so it is at least supported better. Also it is currently using a plastic printed adapter so gotta fix that as well, I should find a metal adapter of some kind. Things left to do:

• Replace all the weak plastic adapters with a stronger material, probably metal
• Find a way to support the wrist rotate joint better with a bearing
• Make the claw a bit smaller so it is more compact
• Find out how and where to attach the camera
• Add some speakers for the audio triangulation feature I want to add (basically, it detects the difference in between the time audio signals are received and triangulates where the source of the sound is. Idrk if this is a thing but it would be cool if the robot could look at me when I start talking.)