Assembling all the legs

Last time we had a dozen motors, controllers, and brackets assembled.  In this installment we’ll build up the mammal legs.

First is mounting the upper leg and upper pulley on each motor and assembling the lower leg:

Partially assembled legs
Upper leg, pulley, and lower leg assembled
Lower leg close-up
Lower leg close-up
Upper leg close-up
Upper leg close-up
Upper pulley close-up
Upper pulley close-up

Then we stick the upper leg, pulley, and lateral motor together, leaving the lower leg loose:

Four mostly assembled legs
Four mostly assembled legs

Next I created wiring harnesses to connect all the pieces together:

Leg wiring harnesses

And finally, put them all together!

Next time, we’ll mount everything up on the chassis.

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