Software architecture:
• User interface: C# WPF application
• Calculation and path planning: Robot Operating System (ROS)
• Steering and control: Festo Motion Terminal

Pneumatic drive concept:
• 3 pivoting axes, 4 modified rotary axes based
on the DRVS semi-rotary vane drive
• 16 compressed air lines
• 7 sintered aluminium bearing shafts
• 7 adjustable Franke wire race bearings
• 15 packing cartridges