Differential Wrist Mechanism

This is the V1 CAD for the differential gear mechanism that will allow for the toolhead to rotate and pitch forward on my automated gardening robot called GROW.

Technical Description:

A half inch hex axel is mounted to the larger bevel gear and the gantry frame. The main cartriage is largely floating and only supported by the chain and gear since both motor walls and bevel gears are on bearings and floating freely on the main axel.

When both motors spin together, The mechanism pitches up and down. When they spin opposite, it rotates

Please watch the attached animation that illustrates the mechanism (the chain is not animated), and comment below with any questions or suggestions.
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Also, join the slack channel #grow-bot to participate or observe the development of the robot, I am also searching for programming help once the fabrication phase is over.

DIFFERENTIAL CAD LINK

Thank you all so much! Please give me feedback on how to improve my devlogs, and consider following if you want to see where this is going!