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Help for the un initiated

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Please excuse me, I have little knowledge of robotics and could use some advice.

The project is to coat the inside of composite tubes ranging from a dia of 125mm to 450mm and a length of 100mm to 2800mm with an epoxy coating.
I imagine a 3 axis cartesian machine with the 3m coating probe on one access. the coating head at the end of the probe should have a mass of 4kg to 6 kg
the tubes would be in a rack and be rotating, the diameters may be mixed in the same rack.
My question is is this...

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