Ghassaei linkage walker

thingiverse

This is an implementation of the Amanda Ghassaei linkage that utilizes parallelogram linkages to replicate movement, providing support at multiple points. To create a steerable vehicle, two sets are printed and placed side by side, with each set driven separately like a tank. Parts List: Linkages: Bar A x2 Bar B x2 Bar C x2 (1 mirrored) Bar Cb x2 Bar D x2 Bar Db x2 Bar E x2 Bar Eb x2 Bar F x2 Bar Fb x2 Foot x2 Connector x2 Front, back, left, right x1 Gear 1 x1 Gear 2 x2 Gear 3 x1 Left crank, right crank x1 Almost all joints are screw-free, except for gear axles and top acrylic plate mounting that use M3 screws. Due to design tolerance, the feet were unable to lift as high as intended and can nod up and down, although theoretically the vehicle should run smoothly like a wheel-driven vehicle. A DVD motor serves as the motion source. Two lithium 18650 batteries, an Arduino nano, and an infrared remote control the vehicle. Video: https://youtu.be/ANAK5SToOpI