3D printed ball bear hinge have insufficient clearance and space in the shaft area for the other part attached to the other aluminum profile to rotate smoothly. We made it tighter and thinner for clearance and was able to attached it to the legs.

Once everything was assembled and attached to the body, we realized that the overall angles of the aluminum connected to the motor and servo housing are not leveled so changes had to be made. As such, changes to the angle where the rocker joint and motor + servo housing is attached to the aluminum profile was adjusted so that all the pieces are leveled and stable We also designed a part that can fit into the groove of the wheel for the coupler to be attached to.

The changes made to the motor and servo housing allowed the legs to be leveled and stable. Upon attaching both legs and testing out the motion, we found out that the ball end joint is slightly angled and not parallel to the legs. This caused the right leg to be bent inwards if the left leg is tilted up, due to the pivoting of the differential bar. As such, the differential bar was made to be longer to fix this issue. Also the PCB was ordered 🙂