I'm might be talking to myself here... but thinking about taking the j0 plate and printed base and replacing it with a mobile battery powered aluminum chasis with mechanum wheels. The control box would be incorporated into the chasis and the internal mains power supply would go away. j0 could also be direct drive. The base would likely need an optical floor tracking sensor but otherwise only has the minimal electronics to power the wheels. Overall cost could be less than current robot with a 7th axis.

These are the things I want to look at after finishing my build. I'm doing few hours evey day now... - test encoders on joints vs on the motor - 48v behavior on j1-j5 - increase length of arms. j2 arm and j6 bearing arm. will likely create a new arm assembly I can switch back and forth with the original. nothing fancy. just open the cad model and increase the length + do some mass reduction cutouts. - try out larger nema23 stepper motors on j2 and j3. I know big changes are coming on software side so I'll wait and see for those. I'm wanting a welding type robot so payload can be small.

Hi. Yes, that was the issue. I was able to push the key in further. It was still a tight fit. Needed to put it in the freezer and use some lithium grease. Also had to hit the motor housing couple of times to get it in.