Top: Dan, filing the arm hole in our chassis to prevent the arm from binding.Second: Our completed machine (!) being tested out on the arena.
Third: Arm pin plates + inner plates + the arm. We needed to add inner plates (seen here with hex bolts coming out of them) to keep the arm constrained to the PVC pin plates. It tended to slip off one side and bind.
Bottom: Rack and pinion assembly shown with all applicable gears/motors/couplings. This assembly also encounters more friction than we would have originally preferred, but it still operates fairly smoothly.
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