Hi and welcome
I don't use CNC or CAD either and still have fun making robots.

If you haven't made anything like this before then I would advise going to a live show, and get to talk to people in the pits and look at what people are doing with the current robot designs, there are shows on in Reading this weekend
A lot of questions you have could be answered there, also it may motivate you to finish the project once started when you see the other robots in action.