The CAD model was printed using a Da Vinci 2.0A 3D printer. As expected, our first test print was not such a good one. Due to factors such as poor print quality, bad joint design, and improper layering when positioned in the 3D printing software, our first prototype crumbled fairly quickly. Also there were no tolerances made for our moving parts such as our 4-Bar links and the outer joints, so many thinks didn't fit properly.

Below is a video of initial print in action (notice the broken joint).