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Each
motor drives 4 round cams located on the right and left side of
the spider (cams are painted red). There are protrusion that come out of each
cam. It reminds me of the handle on a crank. I put a white dot on the end
of each cam "handle". You can clearly see the roughly 180
degree phase
relationship between the cam handles.
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The cam movements are linked together on
each side through a set of in-line gears. |
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Here's a close-up of the gearbox
separated from the spider body . |
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The 4 white posts on the spider base are
the mounting points for the legs. |