Bug pantographic quadruped
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Here is a Quadruped with only 2 servos (2 degrees of freedom) per leg. These types of robots look anthropomorphically more like Spiders or Bugs rather than Dogs or Cats. So, I will use a working name of "Bug" for this beast!
In this design a simple 'pantograph' linkage will be used to move the leg up and down. a single servo can perform this action. one benefit of the pantograph design is that not all of the weight of the robot will be put on the servo. I feel this will be very important for all servo designs.
The design is moved from OpenSCADA to Slic3r to gcode and the 3D printer. Parts are printed and tested. I cycle through a few design iterations this way, to fine tune locations of the servo braces, clearances, and sizing. It is very easy to overlook placements, and having incorrect tolerances.
Source : Totally not evil robot army
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