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So for now, you could use the supplied worker bee and perhaps extend inventory access from any of the available points to reduce round trip time for maximum efficiency.
Place a Conveyor block, add a rotor to one side, add a connector to the opposite side.
This maintains the rotational axis.
Place a conveyor on the opposite side of the rotor with a straight pipe and add a angled pipe pointing towards the rotor.
Use a small ship (large mass), and create a pipe to connect to the across the rotor using connector and large conveyor pipes (for a small ship).
This somehow lowers the mass and interference on the rotor strength (which are all large).
Lock the connector furthest from the rotor (the one connected to the angled pipe). Quick tip: access the connector through the large connectors hatch, this way it will be selected in the interface and you will know which one you need to lock.
However copy paste does not work on the construction as the connector pipes do not retain alignment :-(
Hopefully they will add something to allow the transfer across multiple rotors which would give us the freedom to create the kind of factory robot arms.