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UPDATE okt 9 I created a 3d simulation model. See video. My plan was to use this model to reverse-engineer my cam wheels. What I want to achieve is that the legs move at a constant speed in a straight line for at least 50% of the cycle. Because the mechanism includes many non-linear transmissions between the cam wheel and the leg, I can define the leg movement as an input and then get the movement of the main driver as a result. Currently I am not that far, in the video the main drivers (red bars) ...
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/robots/show/bug-2-0