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Btw. for the connectors at the moment i use a piston before the side-connectors for better docking. fortunatly i left enough room so I only had to make little improvements
I got it a little bit more stable by using gyroscopes to move the center of mass near the beginning of each arm-part. Also keeping holes in the arm helped. using artificial mass at the arm parts is no wise idea. at least when using more than one.