The first lot of components has been drawn and ordered, as have the bearings, pulleys and belts. So now I'm just waiting for the first lot to arrive and in the mean time I've been tinkering with the electronics and control side. As you can imagine setting the arm up for 3 axis motion is a case of rudimentary geometry, and the 4 axis case is only slightly more challenging. The addition of the 5th axis is where things get exciting. The 5th axis capability gets added as an axial rotary joint between the second and third major joints and the movement of this one joint changes all of the Cartesian coordinates of the endpoint (in all but a few special cases).