The team began the design process by making SOLIDWORKS models of the linkages. From the previous page, we can see that there are two triangles formed by links BDE and GHI. We decided to turn these separate binary links into ternary links in order to simplify the assembly of the mechanism. As you can see in the picture below, each set of legs has four binary links and two ternary links. The circular plate with a pin shown in the middle of the image attaches to the 360 motor through another piece called the joint mount. All parts shown on this page were 3D printed with PLA.
