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In Figure.30, you will see three splines. Two of which are the same. One is a closed spline (a polygon).
Figure.30
You will need to use 2-rail sweep to make this a surface. This is basically modeled the same way as the shoulders. Figure.31 shows the output and the settings used. This is the upper arm.
Figure.31
Figure.32 shows the beginning of the forearm. There are 3 splines. Use the same method as above.
Figure.32
We will now model the grippers. This is the final set of models for the basic arms. In Figure.33, you can see four splines in two different colors. The splines in the same color are just copied over using the command Copy.
Figure.33
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