To start creating our robot, we first determined our size, speed, and resolution requirements. Then, we calculated the predicted torque on each joint to decide on our motors and CADed our robot. The robot consists of three main components: the wrist, elbow, and base. The wrist and elbow joints are driven by a NEMA 23 and timing belt pulleys. The base is driven by a BLDC using a capstan drive. After completing the design, we 3D-printed and assembled the mechanical components of the robot. We temporarily wired and programmed the elbow and wrist joints of the robot to create some preliminary photos.