• Using 3D printed hex nuts with threaded inserts
• Clearance/tolerancing issues
  • Armatures rub against the outside of the ring gears
  • Ring gears rub against the orbita bottom
• Threaded inserts in head do not line up with armatures
• Unknown if the motors can supply enough torque to move the head from the limits of its tilt
• Top gear rides up as it turns — nothing supported from the top to keep it compressed
• No encoders for position feedback