Motor monitoring over temporary connection
Depending on the weight of the structure, you could have an arrangement of pogo pins to connect a data link; this works fine as long as the device is firmly enough connected. I'd suggest a differential type of data link like RS485 or CAN, although if the connection is short and secure you should be able to get I2C to work.

Obviously if the thing is vibrating you have to make sure it's not vibrating enough to break the spring-loaded pogo connection. And the pins have to align mechanically - conical or sloped guide surfaces can do this. Normally you'd clip it in place; magnets may also work for you.