In this video, I show how I went about building a CNC 5th axis for a small milling machine.

GrabCad link: https://grabcad.com/library/cnc-5th-a...

Link to hand scraping carbon steel by "An engineer's findings":    • Hand scraping carbon steel: carbide i...  

Harmonic drive based servos supplied by Robot Articulation: http://robotarticulation.com/