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- The mechanism on paper is 2D, but when bringing it to 3D design, we need to take care of the Z-axis. For the first time, I've forgotten it, resulting in the linkage stuck when traveling through the holder.
- Not always the linkage and the pin fit with each other. If we set them the same diameter, sometimes their tolerance after manufacturing makes the design failed.
- We have to find something to hold the link together. It will never as easy as mating on Solidwork. For example, the slider on SolidWorks runs very smoothly, but in real life, its sharps and its friction prevent the motion and make the movemetn movements much harder.
The project is fairly successful since the mechanism is working pretty smoothly, and the controller working properly. There is a little bit of trouble when 3D printing the linkages, by the alternative wooden sticker works perfectly. During the project, I've learned so many new things, and I am confident that I will do better next time. In the future, I will try to research improve the walking joint mechanism. There are many types of walking mechanism, but I will try the Chebyshev mechanism at first, and then go deeper to Jensen mechanismBolts and Nuts are not a good choice for joining linkages. Also, I will figure out a solution to let the mechanism work more smoothly in the high-speed motor.