Design & Build a 4-Axis Parallel Robotic Arm

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I search information about how to design and build a four axis parallel robotic arm like there is in the picture that I added.
 

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    parallel four bar.JPG
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also I search after information about how to design a telescopic arm and / or a forklift - rigging and / or a rotate tower
 

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    Rotate Tower.JPG
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