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Description: The links of the mechanism were ¼” thick wood, chosen for its low cost and ease of shaping, and were laser cut for accuracy. To ensure that it matched the expected movement and was relatively smooth, we assembled the links using M4 screws and nuts and tested the mechanism.
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Build Iteration 2: Linkage mechanism with actuator
Description: Once again On the second iteration, while most parts were again cut from 1/4" wood and some , we added some that were made from 1/4" acrylic via laser cutter. The difference This was made to show make "hidden" linkages, or, in other words, make linkages that will were going to be present exposed in the final design less noticeable. This design, unlike the first iteration, has had a bigger back plate that allows allowed a motor as well as electronics to be attached for proper actuation of the input link of the linkage mechanism. This is also the first design in which we have implemented a uniquely shaped link that resembles the leg of a dog, iterations of this to be of which more iterations would done in the future.
Results: This build iteration matches our desired linkage movement that we accounted for, however after obtaining feedback we will have had to modify the linkage system quite a lot to change the motion of the leg to more resembles the motion resemble how a dog makes while walking. Another big issue walks. Additionally, we found is that we would like to move away from screws in joints and move towards shafts and collars. This will solve issues that are present with screw joints shafts and collars would be more effective for the joints than screws and nuts, as this will solve some issues that made themselves apparent in this prototype, such as the unscrewing of the nuts , and reduce high friction in the joint itself.
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