I was brainstorming at work today and have decided to add an axial rotary joint on arm 2 as close as possible to joint 2 This is the joint required to make the arm 5 axis. At first I am going to lock this joint but adding it from scratch at a later stage will require significant redesign and that will be counter productive. As a result I am going to spend a large part of tonight re designing from joint 2 onwards rather than producing the remainder of the drawings. Hopefully I will have quite a bit to log in about 5 hours time :)