Using the belt driven configuration CAD model, the open loop simulation writes block letters and has partially included the empirical motor dynamics from a Dynamixel AX-12A servo. However, further specification of joint velocities is necessary to determine the velocities at each desired point.

Using a 10:1 gear ratio has also required a servo wit position feedback through all 360 degrees. The AX-12A could only track its position through 300 degrees. While MX-12W tracks position through the full 360 degrees, its theoretical stall torque provides less than a 10% margin of error before the manipulator may be unable to rotate with smooth motions.

The stress incurred on the T-bar's bearing supports is slightly below a standard infill PLA's shear stress. A detailed ANSYS simulation, specifically on the gears will further elucidate the manipulator's structural integrity.

Additionally, the drawings and software flowchart are mostly complete.