VI-Final Prototype

The final prototype of this mechanism was created with the goal of reducing input torque as much as possible, such that a motor could be integrated with the mechanism. Thus, the 1/4" acrylic and plywood was replaced with 1/8" plywood to make each link lighter and easier to turn. Additionally, to allow for simple assembly and adjustability I removed the screws and posts from the previous designs and opted to use nylon locknuts and 10-24 machine screws for all the joints. With this change in joint material, I had the added benefit of being able to address any tightness in the mechanism on a joint by joint basis. Previously, the screws and posts had to be tightened fully or they would slide off, which was an issue with the plywood not being 1/4" precisely. Now, as can be seen in the video below, the mechanism does not squeak or struggle at any particular point (what little noise is present is simply due to the wooden spacers rubbing on the wooden links), and it moves significantly more smoothly than before.

Since my initial motor integration failed due to not having enough torque, I opted to integrate my mechanism with one of Bevo's legs. I created a Bionic Bevo, and he certainly enjoys the newly found mechanical advantage of his low-profile six-bar walking mechanism! With the addition of laser cut gears, I managed to motorize the mechanism too in the end. Please see the final presentation video here and the updated video with the electric design here(unfortunately, the file was too large for any free compressor online or to directly post here).