VERY impressive, Your obviously multi talented. There's a huge ammount of knowledge needed to build anything like that and expect it to work full time all the time. Metal types, Heat treating, bearing choices, Electronics, Cycle timing, Plus as you said non symetrical parts to handle. There would be a massive ammount I didn't mention and don't know anything about too. I'd guess your well informed on air and hydraulic systems as well as PLCs. I worked in a food processing plant when I was a teenager. There's far more to something automated like this than it first appears.
Pete