Iterations of the dynamics simulation performed included as System Dynamics III within the Dynamics assignment and as the simulation used for the Design Optimization assigment. Only the final iterations of these dynamics simulations are included in the final assignment pages, but it took us many iterations to come to the final dynamics simulation. The two main goals in these iterations were 1) adding compliance to the end-effector link and 2) adding the moving plate to the simulation. Additionally, this is when a second leg was added to the simulation with a constraint that the input links of the two legs must be out of phase. Both Daniel and James worked on these simulations so both of their iterations are included below.
Simulations performed at each of the three k values tested for the Experimental Validation assignment. The links to these notebooks were included in the assignment, but the full code was omitted.