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I would like to add that designing and building the robot 'at assembly' or 'design as you go' works for the simpler mechanisms and will suffice if you are running out of time. These designs are the first to break or fail so be prepared to redesign. Remember that you can learn a lot from your failures.
For best results do the math first especially for selecting motors and gear ratios. There is nothing more discouraging then spending three weeks building the ultimate lift device and then seeing the 'magic smoke' escaping from the motor during power up. Joe Johnson and Ken Leung (amongst others) have put together some white papers to help you through this.
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