...
270 Degrees: 
315 Degrees: 
Figure 11: Position of Links at 45 Degree Intervals of the Crank
Combining these results produced the following motion, which goes hand in hand with my MATLAB results (red). I tried different methods, but I could not figure out a way to show the motion of the other moving positions (orange). This would be something that would require using the motion of the 4-bar mechanism as input and take into account the big link that makes up the leg with two joints, and the rocker that allows it to move back and forth from the top.
Figure 12: Position of the Joints and Foot as the Crank Angle Changes
Using the following gears from the Karakuri book I plan to transmit the rotating motion of the handle/windmill (green part in the SolidWorks assembly) to the crank of the 4-bar, which would eventually transmit this motion and produce the motion shown above and allow the leg to walk.
Figure 13: Gears from the Karakuri book
The gear ratio “R” of this subsystem would be the following, where Nin is the number of teeth in the driver gear (6) and Nout is the number of teeth in the driven gear (12):
...