[Dagobah]

I'm fascinated by your project. Before reading this thread, I hadn't heard anything about the atlas motor. Not that changing directions at this point in the project would be a good idea, but had you ever considered something like this?

It seems like you're already doing a ton of fabricating, and I'm assuming that 3-d printing is only going to make one-off parts like this more affordable. Anyway, I'm looking forward to seeing more progress in your project.