The second part of link 2, modified to accommodate the belt, de-laminated during printing. Consequently, the link's connecting side is ovular and could only connect with three of the four screw points as show by the unused tab in the image above. Additionally, the servo mount required filing to accommodate the servo's reverse and does not provide the appropriate mounting distance, causing slack in the belt.

The controlling python script can simultaneously command servos in series through consecutive rotations, but executes an additional rotation for numbers of rotations negative with respect to the zeroed position. Testing with a two link manipulator may remedy this issue or it may constrain the joints' ranges of motion.