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Of the major challenges of this design were
the bevel gear alignment and wiring. Bevel gear alignment was taken
care of by careful machining and leaving space for some shims to
be added later during the assembly procces. As for the wiring problem,
in out first attempt of design this joint, the wires we being twisted
as the joint was actuated. In the second iteration on this design
we solved the wiring problem by adding an internal gear mechanism
on one of the motors to solve the wiring twisting problem.
Finally we built a simple support to hold
the joint with simple electronics to control the joint. The electronics
was very simple, we used simple on-off switches.
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