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With the above in mind, we designed the prototype in SolidWorks. We started by modeling the leg mechanism as a set of four simple links, with holes for shafts or bearings to allow for movement. Once that was designed, we designed the main body of the prototype to accommodate two legs, one on each side. We aimed for the simplest design possible to reduce manufacturing time. Finally, to balance the prototype, we designed a triple-wheel system that the prototype rests on. The wheel supports are designed long enough that the end point on each leg is able to contact the ground without too much pushing. The final design is shown below.
