This seems pretty good. More arms is useless as 4x4 > 3x5. Fewer arms may be better, but 2 arms with pseudo period 7.5 and 1 arm with pseudo period 15 seemed excessively difficult.

Even this is just barely possible as the delivery arm has only two free cycles and has to do things in the right order to get the vitae off of the animismus glyph in time to avoid collisions.