So it begins...

Have begun work on the base with provisions for a NEMA 17 that is 60mm tall. Have shifted motor to outside to keep robot more compact as well as allowing for a larger pulley to be fitted. Also motor is upside down to not make whole robot sit not so high off ground to reduce leverage of the arm causing it to fall over. 

Me trying to figure out how its going to fit together (pencil and paper is the way to go)