I was inspired by the Kondo KMR-M6 Robot .(Kondo is an Japanese company makes robot models) I like this kind of modern toys but they are always too expensive to afford . Then just make one by hand ,I thought.
The general idea is to carve every part of a single leg with plywood ,which takes a long time, and then try to copy it with PU glues since the robot gets six legs.
Now let's begin.
(POOR ENGLISH , SORRY)
Step 1: What you might need
saw , electric grinder , electric drill, pencil, screwdriver,caliper
plywood , PU resin , silicon ,
servo motors, CAD and EDA software , FPGA Minimum system board(I choosed Altera CycloneII)
Step 2: 3D model and 2D blueprint
What? You never touched autocad before? OK,neither did I.But I learned it and draw the model within one week . One good way to use this kind of software is to learn just the parts which you exactly need.
Every single leg has two rotational degrees of freedom, one for Horizontal rotation the other for vertical movement. The vertical motion mechanism is a parallelogram structure which is can easily rotate and keep the claw upright. We can simulate the movement through some simulation tools , for example Autodesk ForceEffect on mobile device.