VII. The Conclusions and Future Work

The prototype appeared to achieve the desired motion as simulated in the PMKS video. The team attempted to reduce friction for the motor by using a round file. Pin joints were also created to ensure smooth movement and were filed to fit tightly in the ball bearings. We believe this prototype is quality because there are no more height discrepancies causing links to be in tension and the PLA that the parts were printed with had a very smooth finish. As for creativity, our prototype utilizes 360 degree motor to achieve desired motion as opposed to being wind powered and the adjusted motor mount height to compensate for stacking links. The future of this project would be to create a body to hold the Arduino and motor shield, print the other leg set, and possibly create some feet to ensure the robot is taking balanced steps. Of course adding the second set of legs would require us to edit the code to compensate for the additional pins being used on the Arduino. Finally, our MATLAB code for the acceleration part of the analysis was not correct. To improve the project, we would have to debug the code so it can make the correct graphs.