Check out http://www.users.qwest.net/~kmaxon/page/home.html

<A HREF="http://www.users.qwest.net/~kmaxon/page/home.html">Click here:
http://www.users.qwest.net/~kmaxon/page/home.html</A>

This site was pointed out a short while back, and I would highly recommend
that all take a look at it, as you will see it is robotic in nature, but our
machines are also robotic in nature. There is a tremendous amount of
knowledge available there.
I hope that there will be more details on the encoder struts soon.
Mr. Kenneth Maxon, is a new and still lurking member on the list, and hope
that he finds something of interest here. I know that I did on his site.
bill