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Our first working model delivered the exact motion we were looking for, but was a little tedious in the assembly. To ease the construction of the final prototype, we scaled our links up slightly so the smallest link was 40 mm in length and much more comfortable to handle. We also discovered that wood worked very well with our bearings and axles, so we decided to stick with plywood for the entire project. This also added to the mechanical art aspect of the piece, giving it a da Vinci-esque aesthetic. For this reason - and with TA permission - we opted With TA permission, this inspired our decision to stick with a hand crank as a our power source rather than a motor, just as they would have in the 15th century.