As mentioned long ago in my post on failing more gracefully, it was obvious I wanted to strengthen the lower leg and foot mechanism to remove the point of failure observed there. For now, I’m attempting to basically copy the original Mini-Cheetah foot principle, although with more 3d printing and less machining.
The basic idea is to print the entire lower leg in a single go laying on its side, so that delamination is unlikely. The foot bracket will be cast into a squash ball, then epoxied onto the lower leg.
Next up, we’ll see my experiments in casting!