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I tend to use SolidWorks assembly to trial and error these types of assemblies, then worry about how to make it work. Constrain (Angle and Distance) the crap put of components to start and remove them as components are interconnected.
Following the process I outlines in the comments:
Platform: 100mm.
Upper Arm: 105mm by 50mm, Angle 90°. The dimensions you ...
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