The bio-inspired multi-leg walking robot!
It seemed that the main sprocket is capable of turning the chopstick legs, and the ball & socket were going to work. This is the working theory, i will not be able to test a load on them until much later in the development.
The next iteration of the design of the motion mechanism was to start to incorporate a gear into the drive in order to turn the sprocket. I did a number of changes in the CAD design. I increased the size of the frame (height) and added M3 holes on the sides. I updated the socket top to take recycled torx screws from a printer.
|Centipede next iteration of design
For the main design, I have added a 22x7mm skateboard bearing (red) to take the load of the leg (also red) and provide rotation. I extended the cam shaft to hold a gear. Most important, I designed two gears, one to turn the sprocket, and the other to drive that cam gear.
The new print has noted improvements. Also, a number of issues that will have to be tweaked in the next iteration
|Full View, new iteration on the left, original prototype on the right.