-Edits to box: smaller clearances, adjusted locations of grounds as they weren't matching up with the kinematic analysis (had a few problems with the laser cutter software at the beginning)
-Added sides to the box, this drastically improved the quality of movement as the joints no longer had any ability to move in the z-direction which was causing the links to twist and jamming the mechanism.
-Random edits: filing down the one bolt to be the correct length
VIDEO HERE OF FINAL MOTION