Triangle bracing was added to the primary bean to ensure the frame would not flex while the robot lifted heavy loads.
Unsupported drive shafts often got bent under heavy loads.
A second beam and aditional gearing were added to reduce shear stress and torsion
Energy loss through friction is eliminated by using grease and building well aligned gearboxes to prevent unnecessary resistance
A final product where the number of gears is reduced to eliminate losses through friction. A central conical frame was used to reduce unnecessary strain due to the weight of the pickup assembly.