Body Assembly Complete

I have completed assembly of the main body of the test bed.  All of the legs are attached to the central platform.  The central platform is made up of six wedges and a locking ring, allowing it to be printed by smaller 3D printers.  

The Assembled Body

So far, no electronics have been installed.

The Wedges

The main body is made up of six wedges (each takes about 2.5 - 3 hours to print on my 3D printer).  These are locked together by a locking ring in the center of the platform.  The wedges are attached to this locking ring with 15mm M3 nuts and bolts with M4 washers to protect the 3D printed parts.

The Servo Mounts

Each base servo is attached to a wedge by three screws, despite the servos having four mounting holes.  I had to exclude the fourth screw in order to make room for the servo's cabling.

Next to each servo mount is a small, rectangular platform with two screw holes.  These platforms are for the electrical connections that provide a simple interface between the electronics mounted on each leg (three servos and one Force Sensitive Resistor) and the control electronics in the center of the body.  I will cover these in greater detail later.

Known Issues

With it's current design, the main body is susceptible to flexing along the lines between each wedge, as a result of the locking mechanism.  At the moment, this problem is being solved by using binder clips (not shown in the image) in the midpoints between each servo mount.  This works, but is only a temporary solution.  The next version of the body should address this issue (I'm aiming to have a top plate to connect all of the servos together, if possible).  Another solution to this issue would be to glue the wedges together, but I have not tested this.