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All of the parts were modeled in SolidWorks, then 2D profiles of the parts were rendered as vector images in Retina Engrave. I used the laser cutters in Texas Inventionworks to cut all of the acrylic links and plywood base, and assembled everything by hand. It took a few iterations to get the right tolerance for the joint holes so that they would be snug, but still loose enough to allow for smooth movement. All of the sliding surfaces were lubricated with Boelube.
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