Another important component is the mechanism that is responsible for the linear motion of the entire arm.
It is a gantry-based mechanism consisting of a set of pinions driven by a single servo motor.
These wheels roll along the rack structure at the top of the frame.
For the single servo motor to drive both the wheels, a bevel gear–based mechanism is designed, which can be seen in Fig. 7.
A slide mechanism between the side of the top frame and the arm prevents undesired lateral movement of the arm. This can also be seen in Fig. 8.