Base beams construction

1. Attach the two base beams as close as possible.
2. Make the beams short to reduce buckling risk.
3. Use sturdy wood for the base structure.
4. Secure the vertical beams in position to provide support for the structure.
5. Drill larger holes in the arm where axle 2 will pass through (The holes in the vertical beams should be smaller to keep the beams locked in place while allowing axle 2 to rotate freely inside the arm)
6. In the base, position axle 1 as low as possible.
7. Drill a hole to keep the axle securely in place at the lowest point.
8. Attach axle 2 to the arm at the farthest possible point from the pivot.
9. Drill a hole in the arm to fit axle 2 and ensure it's securely mounted.

Arm Construction

1. Bottom half (12 inches). Use balsa wood for the bottom half of the arm. Cut it to 12 inches in length to balance torque and weight.
2. Top half (3D printed). 
3. Servo Mount 1. Cut and shape a mount for Servo 1 from balsa wood.
4. Mount the servo asymmetrically to maximize torque (try to position the servo as far from the pivot point as possible to increase the force it generates when pulling the spring)

Spring and Solenoid mechanisms

1. Position the spring on the arm as far from the pivot point as possible 
2. Place the solenoid as far from the pivot point as possible

Servo and Control

1. We are using a 6-point servo. Use a 6-pointed servo for maximum surface area on the flat piece (for stronger grip)
2. Check that Servo 1 is securely mounted using the balsa wood mount.

CAD

1. Before printing, we need to refine the arm’s dimensions, make sure that parts like the arm, base beams, and servos align properly and that there is enough clearance for rotation.
2. If we have time: design the wheel mechanism

Assembly

1. Start by attaching the two base beams together as securely as possible. We need to make sure they are positioned close to each other to increase their strength. We can use strong glue or screws or bolts to keep them stable. 
2.  Next, secure the vertical beams to the base. Once they’re in place, use screws or bolts to hold them down securely.
3. Position axle 1 in the base as low as possible. Secure it tightly in place with screws.
4. Drill a hole for axle 2 in the arm (the hole should be a bit larger than the one in the vertical beams, so axle 2 can move freely inside the arm without being too tight)
5. Slide the axle through to check if the arm can rotate.
6. Now, attach the arm to the base by placing it on axle 1 and axle 2. We need to make sure that the arm can rotate freely.
7. Check that axle 2 is aligned correctly.
8. Take your balsa wood mount and position Servo 1 on it. Mount the servo as far from the pivot point as possible (asymmetrically).
9. Position the spring at the farthest point from the arm’s pivot
10.  Hook the spring securely to both the arm and the base
11. Place the solenoid as far from the pivot point as you can.
12.  Secure it to the arm or base with screws or a mount
13. Rotate the arm by hand to check if it is alright.