Jansen Mechanism in Fusion 360

[cheri.geor]

I just created the Jansen mechanism (walking creature) in Fusion 360. 

Here is the link to the model : http://a360.co/2euUTs0

Feedback would be highly appreciated, especially on the process that I followed.

[TrippyLighting]

For a mechanism like this where you have distinct sketches for the individual components you should follow Fusion 360's R.U.L.E. # 1

From a joint/assembly standpoint the design works nicely , however, you may want to consider providing some of the joints with proper joint limits.

When only driven by the wheel everything is fine, but when you pull around on the legs, the mechanism stats "flipping". Joint limits will put an end to that.

[cheri.geor]

Thank you for taking the time to review my model and providing valuable feedback. 🙂

[cheri.geor]

I have now modified this mechanism from a biped to a quadruped, by mirroring components. 

Here is the link to the model : http://a360.co/2euUTs0

It is really nice to see the mechanism work, when all the joints are enabled . However in haste I condoned possible collisions. It works all right nevertheless.  What would be the best way to correct this fine tune it so that it could be made.