4-Bar Crank Rocker Leg
Iterative mechanical leg design using a crank-rocker four-bar linkage
Overview
Iterative mechanical leg design using a crank-rocker four-bar linkage as the locomotion mechanism. Each iteration refined link ratios, spring integration, and contact geometry. SolidWorks Simulation was used at each stage to check joint forces and visualize the foot path across the full crank rotation.
My contribution
CAD project. Designed the four-bar linkage in SolidWorks, iterated link lengths across four designs, used SolidWorks Simulation to verify joint forces stayed below high stress condition, and added a spring element to absorb ground contact loads.
Iteration 1
Iteration 3
Iteration 4
Spring Integration
