Late stage prototype for a caterpillar project:
The model uses a double crank with a ninety degree offset on the second crank. The caterpillar is then driven via push rods and a pair of bell cranks to make the Inch-Worm movement.
I have a few tweaks to make to the caterpillar. It catches a little as it moves so I need to make some small changes to the design of the individual sections, I'm also planning on making it a bit smaller so that it goes flatter at full stretch.
Cute though dontcha think?