I decided to laser cut wood for the links and ground support that the link would be attached to. I positioned each pin joint based off of the scaled coordinates I used for the PMKS simulation. For the pin joints, I used nuts and bolts. I understood that the bolts may have trouble staying on the bolts when being rotated along with the links, so I reinforced their position with hot glue and they stayed in place. Figure 1 shows the bolts reinforced by glue from under the ground support to which they are attached.
Figure 1. Nuts reinforced by Glue
For the sliding mechanism, I used a
