Build Iteration 1: Initial linkage mechanism testing
Description: The links of the mechanism were ¼” 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.
Results: Through testing, we were able to confirm that the links were dimensioned and prototyped appropriately, as the linkage mechanism was moving as expected. However, on the first iteration of this prototype, we noted that some links were redundant and could be combined with other links. Thus, for the second iteration (discussed in more detail below), we streamlined the design.
Build Iteration 2: Linkage mechanism with actuator
Description: Once again most parts were cut from 1/4" wood and some 1/4" acrylic via laser cutter. The difference was made to show "hidden" linkages that will be present in the final design. This design, unlike the first iteration, has a bigger back plate that allows 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 done in the future.
Results: This build iteration matches our desired linkage movement that we accounted for, however after obtaining feedback we will have to modify the linkage system quite a lot to change the motion of the leg to more resembles the motion a dog makes while walking. Another big issue 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 such as the unscrewing of the nuts, and reduce friction in the joint itself.