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Figure 7: Assembled two leg prototype.
The final iteration just expanded the design seen in figure 6 by adding 2 more legs and then adding a second layer of legs for the total of 12 legs. The final iteration is also motorized instead of hand powered so a switch, battery, and motor were needed. A 1:3 gear ratio was used for the motor to slow down the motor and allow it to be strong enough to power all the gears and arms. The motor was then placed in the center of the gear train so that motion would translate more smoothly throughout the robot. A battery mount was added to the bottom of the robot to ensure equal weight distribution for climbing up and also serves as a way to space out and secure the plates that make up the robot. A switch housing was added between the battery and also allowed for wire management. A CAD model can be seen from different angles below in figures 8 and 9.
Figure 8: Front view of final iteration
Figure 9: Isometric view of final iteration
To manufacture and assemble the final iteration, the gears and plates were laser cut out of acrylic and the small and ternary links were laser cut out of wood to allow for visual variation in the final product. The battery holder, switch enclosure, and motor mount were all 3D printed. The rest of the parts were bought/available from class materials which included the motor, batter, switch, bearings, axles, spacers, and nuts/bolts. Figure 10 below shows the completed and assembled product. One change that was made from the original vision was that instead of springs, foam material was used to add compliance to the arms. This was done to simplify the design due to time constraints and ease of implementation.
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Figure 10: Final iteration complete