This is a really interesting instruction puzzle. Usually production lends itself to symmetry, so it was fun to make such an irregular shape.

The big breakthrough for this solve was using arm 2's movement to conditionally disperse the quintessence. By moving the quintessence on arm 2's first clockwise rotation, the glyph of dispersion is blocked by salt. This block allows arm 5 to grab the still-whole quintessence before arm 2 finishes its second spin. You can see this working on cycle 62: arm 5 makes it back just in time to stop the quintessence from dissolving.

The assembly used to be way more interesting, with an insane storage piston, timed arms, and clever reuse of arm 3. Unfortunately, the regrabs made it cheaper to just use a long track. 

I think this is super clean, Enjoy :)