This is truly awe inspiring and a perfect application of SLA printing for quality and minimal backlash. After all my years of CAD I find this to be one of the most challenging to model, but programing and Coding the servos (4) has to be astronomical! Much Thanks to Jon and mklotz for posting these!! The animations are quite masterful and fully displays the full function of this amazing Motion system...the possibilities are endless, imho.

On their YT page (https://www.youtube.com/@yamagatauniv.7292/videos) the pipe worm to be another fascinating design in small scale.