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Phase 2 — Concept and Prototyping Lena sketched a hybrid gantry with a short-travel linear rail for X and Y motion and a small rotary wrist for orientation. To keep costs down, they used modular aluminum extrusion frames and off-the-shelf stepper motors for gross motion; a compact servo handled the wrist for repeatable orientation. A vacuum end effector with swappable cups covered the range of part sizes.

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: Step-by-step instructions that combine text with images. Phase 2 — Concept and Prototyping Lena sketched

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