The Final Prototype and Demonstration

Final Prototype:

The final prototype incorporates the nitinol drive with compliant walking mechanism, all displayed on a laser-cut acrylic panel. A 3D printed stand helped to keep the walking mechanism upright to best display it to the audience. The electronics were mounted on the back, with the demonstration showing the mechanism make one cycle approximately every 110 seconds. The final prototype ran throughout the multi-hour demonstration time, showcasing some degree of reliability. The poster shown details the core ideas surrounding our project. 

Prototype In Motion: 

Compliant Walking Mechanism:

The final walking mechanism features five of the compliant rolling contact joints to create the mechanism that was designed in the Kinematic Analysis and Design Process. The CAD, an image of the final prototype, and the final iteration of the compliant rolling contacts are shown below.

Nitinol Actuator:

The nitinol actuator was successfully integrated into the final prototype. The acrylic panel helped to prevent interference between the nitinol actuator and the compliant walking mechanism.

Electronics:

The final prototype features wire management with the help of zip ties, custom cable lengths, and Wago connectors. The Wago connectors were especially useful as they allowed a quick and reliable way of connecting and disconnecting the leads connecting to the power supply. The power supply voltage was adjusted until the wires were heated with 3.5-5 watts when on. 

Next Section: Lessons Learnt