To reduce the torque requirements for each single motor, the first and second joints are consolidated to a differential drive gear set. The gear set is a larger version of those used in the spherical wrist. Since the required precision dictates a motor resolution for links one, two, and three greater than the resolution a servo can provide. The approximate maximum torque on the second joint is 3.1 Nm, or 16 Nm sustainable on each motor.

After attempting to compute the links' velocities, we have decided to stop using the DH convention to simplify calculations. The manipulator's frames will all have the same orientation when the manipulator is in the zeroed configuration.