2. Model Design

Here's a closer look at the leg linkage of the model. The main links of this set-up include a crank, a coupler, and the main leg link. The other links serve as supports or rockers from the motion of the other links.

Figure 4: CAD Linkage Model

Putting four of these links together plus the supports, wheels and the rotating gears led to the following design.

Figure 4: CAD Assembly of Model

To turn the gears, I wanted to use a windmill that would function like a crank for manual rotation and for the wind to have the chance of powering the model. 

Figure 5: Side and Front View of the Assembly

The challenge with this design is the number of different layers for all the links to be located. This made the physical assembly rather tedious and frustrating when parts would shift on their shaft and interfere with each other. Therefore, a physical model would need to make sure its clearances are good enough for the joints to rotate and also keep the links from shifting side to side.