This eventually worked, as you can see in this comparison.
The test build
Already during the design of the service arm I got an uneasy feeling about the construction. The parts size went from small to tiny to microscopic. The instructions for a proper build would fill books. At exactly this point I came across an amazing pearl of software, that seems to solve the instructions problem. Basically, it creates a 3D PDF file from your model that can be inspected just using Acrobat Reader. Even more, it can capture scenes and different stages of the model enabling a guided tour through the construction process. If this sounds too good to be true for you, take the opportunity to try it for yourself.