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We manufactured the D-shaft by hand with a manual mill according to the specified dimensions on our CAD, though as with any process, nothing is perfect. The two ends were different from the dimensions in the CAD, meaning that we had to play around with the tolerancing of the ternary shaft press-fit slots until we had a tight enough connection. For the links and base plates, we recut them with 1/4" acrylic. We 3D printed the grounds, standoffs, end effector, and mount for our motor and Arduino.
Figure 9. D-Shaft and Ternary Link Connection
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