Things I have done:
-Reduced friction in the linkages
-Prevented interference with calibration

I have been working on improving the design of the robot dog’s legs. So far I’ve only screwed the legs onto the servos, so that if I put my hands in the way, I could easily displace, or offset, the legs, and the legs would no longer be calibrated. Although I’ve figured out the PWM signals that calibrate the servos (for now), this seemed to be an issue for the foreseeable future. Terrain with rocks, for example, could easily mess up the angles of the legs and screw the inverse kinematics :P.
Another issue I had was with the mechanical design was with the mechanism that connected the top servo with the linkage moving the tibia. There was nothing separating the plate from the top of the servo, so that the friction made it hard to move the plate independently.
So! Back to Onshape I went, haha.
I made sure to create a dedicated slot for the plate, and split the femur so that I could screw the face over the plate. This allows the plate to move freely side by side, but not up and down.
Then I made a dedicated hole in the back of the femur for the servo horn, because the manufactured horns perfectly meshed with the servos…meaning a moving horn wouldn’t be offset by something like my hand. Now there was a way to connect the horn to the femur.
There were also little things like:
->the femur’s rotation being blocked by the other servo, so I designed it to be slightly taller
->adjusting the heights of the connecting linkages as a result of changing the design
Overall, the new design was used for two of the robot’s legs. For some reason the old design worked perfectly for the other two, but I’m not complaining! :)