A six-CIM kiwi drive? Well now I've seen it all!
I was having trouble figuring out how the whole thing worked, and I think I found a little boo-boo in your CAD
(The rod on your near-side intake cylinder is connected to the wrong thing)
It's a very cool robot design though. Very elegant and functional, and I'm always a sucker for irregular frame shapes.
Can we get some photos of the real thing?