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I thought you might be interested in looking at Building a 6-axis DOF robot arm for Lego World 2017, by Sioux.NET on Track.
https://www.eurobricks.com/forum/index.php?/forums/topic/143387-building-a-6-axis-dof-robot-arm-for-lego-world-2017-by-siouxnet-on-track/&do=findComment&comment=2701503
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