To prove the concept of integrating the motors into the structure, I need to test that I can actually move a single axis. This video shows that there is enough force generated to move things. As the structure gets heavier I may have to increase the number of turns of wire (and the voltage).

I tried to operate this motor with three coils to allow continuous travel, but I could not align them in such a way as to allow the rotor to hang free without binding. I think that if I can just get the axle of the rotor to be more rigid without drastically increasing the friction, the alignment will be less of an issue.