My advice is go over to the wood section there are whole forums dedicated to the joe models the joe2006 can be built with regular tools but if you have a a friend with a
cnc router it will be much better. I assume you have a small budget as if you didnt it would probably be better to mod an X2 or an X3. Now a 3 axis wood router is going to cost you some money especially if you dont cheap yourself on the electronics. As for the 4th and 5th axis drive units go and look at the drive units you posted and study them all they really are (simplified version) are metal boxes with top and bottom covers stepper mounts on one side on the inside it has a pully/gear connected to it and then the out drive is a bearing with a plate on the outside and a pully/gear on the inside and there is a belt connecting the 2 pullies not overlly difficult but you will probablly need a machine shop to do some work for the bearing mounts maybe depends on what you can find material (bearing) wise and how you mount it. A second note you might consider the 4x4 joe and just make it smaller if you read the posts on the forum you will see that a lot of the easier to make with regular tools parts of the joe2006 are used in the original joe 4x4 and like I said you can make the 4x4 smaller so it will be more rigid. I should have asked how acurate does this machine need to be and how repeatable as the accuracy level will make the whole thing doable or not doable