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Small grid can be connected to your station and left in place, it should use station power instead of its own resources to maintain the connection.
https://www.youtube.com/watch?v=tfyKE1csuB0 LSG used it on a few of his vids, it works, but is big and heavy. It looks like block destruction is on so he's not cheating.
For your purposes I'd get the hinge mod and make a small ship with the large hinge>advanced Rotor>Large Hinge>advanced rotor etc. It will have the fewest moving parts, be lighter than my version, and easier to build.
Im looking for a small and simple design that will be able to fit through small hangers to reach connectors.
Not sure what you mean. You need to lock all connectors to eachother to transfer through the entire thing, otherwise it's free to wobble around.
If you want to control it without a head, you can power the rotors directly. I dont remember if they're named appropriately though.
Useful for building Serpent Ships.
I have so many good ideas for this but can't actually make them
You have earned a rating and favorite ^^
THANKS BASED BAALROG FOR FLEXI-FUCKING-BLE CONNECTOR TUBES
http://img.directindustry.com/images_di/photo-g/plastic-drag-chains-flexible-triple-axis-movement-modular-4740-4380969.jpg