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For the final assembly, we used SLA prints. The higher resolution of SLA printers meant that the resultant prints were more precise. This meant tolerances were better for press fitting, and connections between parts (such as the gears) were cleaner. We also increased the size of the end caps which held the limbs to the steel rods. Finally, we used precise measurements for cutting the steel rods.
Below figure shows the difference in the quality of the bevel gears:
Gear printed in PLA SLA printed gears
As a result, the motion became much smoother:
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