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If you check our build blog you can see several wooden and plastic prototypes.
We also are fans of CAD, Cardboard Aided Design. We use large pieces of cardboard to create sections of the robot to locate structures or figure out where things can go, or use it to make quick linkages that we can modify.
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Also quite useful for laying out electrical systems.
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you can get an omtech sufficient for delrin and plywood for like under 4 grand
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A dad/mentor on our team brought in foamboard for this purpose this year and I thought it was really helpful.
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Since it is time-consuming for my team to access a laser cutter, we have found success cutting plywood with a jigsaw for prototyping. 
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There are many traditional methods applicable to fabrication with wood that are well worth the time to learn.
Some schools continue to teach them.
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Big fan of plywood on a laser cutter. I’ve been know to do bandsaw based prototypes out of any random scrap lying around though.
I’m also a big fan of CNC’d Delrin (can be layered too) and 3d printing everything.
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