Lessons Learned

Inverse kinematics of delta robots are actually simpler than those of arms
Accuracy depends heavily on the play in various parts
Some cheap servos have a lot of play -- I think even SG90 servos would have been better
Ball joints can have some play too -- make sure to get ones with smaller balls
Unused PCBs make great building material, if you just remember to add holes in your designs
Having a bag of nuts and bolts in your drawer is great
Paperclips can be soldered to PCBs and make great loops for bolting things to
When figuring out kinematics, don't draw your robot in the neutral position

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