Rather than modifying and reprinting the second part of link 2 to work with the larger belt for testing purposes, it was redesigned to use a harmonic gearbox. The modified link is shown above.

Because the gearboxes effectively eliminate backlash and thus increase precision, each joint is being designed to accommodate a harmonic gearbox. However doing so will require a miniaturized harmonic gearbox with lower gear ratio for the wrist so the manipulator does not take one minute to rotate the wrist 360 degrees and because the wrist joints' torque does not require substantial gearing for an MX-28 servo or even an MX-12W.

The miniaturized gearbox roughly halves the parent gearbox's ratio of 39:1 down to 20:1. Maintaining a moderate gear ratio allows skateboard bearings to fit inside the gearbox. Further testing will inform if the bearings' curvature allows the teeth to mesh with the reduced gear diameters.

To asses the gearbox's durability, a 10,000 cycle test will asses tooth wear.