A modular multi-axis robot that can be configured to operate with two, three, four, five or six axes of movement and in various combinations of rotational and translational motion. Branched polys are prepared via a Michael addition reaction of a trismonomer with a diamine monomer. Alternatively, the method provides for the treatment and repair of cartilage damaged by injury or cartilaginous disorders comprising the administration of insulin andor insulin in combination with standard surgical techniques. Preferably the plurality of components perform the further steps of verifying the integrity of the read data, and logging results into a file. An axial cam mechanism compresses the compression bracket against the mounting bracket.