1. The mechanism must be able to service the complex geometries around the end of the joint.
2. When winding the product, the process must maintain constant torsion and tension in the filament as it is
applied.
3. The mechanism must be able to deliver resin-impregnated filament to the entire geometry of the link.
4. The mechanism must be able to integrate the joint to the link.
5. An automated process involving a modified filament winding mechanism must be developed.
6. The mechanism must deliver the filament to the link quickly, before the resin starts to cure.
7. The mechanism must be able to handle the weight of the links and all additional materials used in the
manufacturing process.
8. The mechanism must be large enough to service the link, which is 2-3 meters in length.
9. The finished link and joint component must have a high payload to weight ratio.
10. The finished link must have a payload of 50 kg.
