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In this system we planned for every leg to have a variable stroke mechanism and to distribute power to each leg with belts from a centrally located motor. We also planned to use a servo hooked up to bevel gears to drive belts on opposite sides of the robot to turn the amplitude control links. However, when it came time to print our parts, we ran into manufacturing problems. First, the 3D printer we were using did not have enough resolution to print our belt pulleys, second, the frame required too much time to print. So we decided to redesign.

Redesign

We decided that making the system above with variable stroke mechanisms on every leg would be too difficult to redesign.  and Our early simulation work using a Klann linkage demonstrated that we could