Our build consisted of laser cut and 3D printed parts. The base and mount were built using wood and 3D-printed brackets. Atlas was entirely 3D printed including the gears, body, and limbs. Finally, we cut 2mm steel rods to connect the various parts to each other.
We manufactured our initial 3D prints using PLA and PETG. Many of the parts would collide or rub against each other while moving. This caused jagged movements when running:
The vibrations would also induce the mechanism to break. We addressed multiple reasons for these issues.
The first issue was using PLA and PETG to manufacture small parts. This caused warping and made press-fitting difficult. This also left imperfections on the part surfaces, increasing friction.
The second issue was imprecise measurements of the steel rods.
For the final assembly, we used SLA prints. The higher resolution of SLA printers meant that the resultant prints were more precise. This meant tolerances were better for press fitting, and connections between parts were smoother. As a result, the motion became much smoother: