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Great design, any tips on printing the arms and joints?

Joints - if I print without brim the smaller part lifts from the bed before the print can finish. If I print with brim there's too much material, even after sanding, for it to rotate as well as the other joints.

Arms - I've tried printing both ways, with and without supports, with cooling and without. I finally managed to get an acceptable arm, but the cylinder for the joint isn't too great underneath.

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